Hybrid potential field based control of differential drive mobile robots

DOI10.1007/s10846-012-9685-6zbMath1251.70014OpenAlexW1977734273MaRDI QIDQ1761275

Herbert G. Tanner, Luis Valbuena

Publication date: 15 November 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-012-9685-6

zbMATH Keywords

nonholonomic systemsobstacle avoidancepotential fields

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items

Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles

Cites Work

• Discontinuous control of nonholonomic systems
• Robot navigation functions on manifolds with boundary
• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles
• Nonholonomic motion planning: steering using sinusoids
• Exponential stabilization of mobile robots with nonholonomic constraints
• Asymptotic controllability implies feedback stabilization
• Trajectory generation for the N-trailer problem using Goursat normal form
• Adaptive output feedback control of nonlinear systems represented by input-output models
• Stabilization of Nonholonomic Systems Using Isospectral Flows
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