Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robot navigation functions on manifolds with boundary
Advances in Applied Mathematics
Time-varying feedback stabilization of car-like wheeled mobile robots
International Journal of Robotics Research
Discontinuous control of nonholonomic systems
Systems & Control Letters
Stabilization of Nonholonomic Systems Using Isospectral Flows
SIAM Journal on Control and Optimization
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems
International Journal of Robotics Research
Trajectory Tracking Control of Wheeled Mobile Robots Based on the Artificial Potential Field
ICNC '08 Proceedings of the 2008 Fourth International Conference on Natural Computation - Volume 07
Flow-through policies for hybrid controller synthesis applied to fully actuated systems
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
Sequential Composition for Navigating a Nonholonomic Cart in the Presence of Obstacles
IEEE Transactions on Robotics
Hi-index | 0.00 |
This paper suggests a new way for nonholonomic mobile robots to navigate in obstacle environments using potential fields based on navigation functions. The proposed strategy is a time-invariant feedback control design with the distinguishing feature that it requires almost no switching compared to alternative methodologies of the same nature. Asymptotic convergence with collision avoidance for the proposed approach is established analytically, and the method is demonstrated on a differential-drive skid steering mobile robot.