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Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

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3 Author(s)
Kyriakopoulos, K.J. ; Control Syst. & Intelligent Autom. Lab., Nat. Tech. Univ. of Athens, Greece ; Kakambouras, P. ; Krikelis, N.J.

We treat the problem of navigation of a wheeled nonholonomic vehicle in a cluttered environment by: (i) finding, at every instant, a new collision free reference position using potential fields, and (ii) tracking this using nonholonomic tracking. Thus, our feedback solution can be applied in real time and guarantees both convergence to a final position and collision avoidance. The issue of final orientation accommodation is resolved for a number of practical configurations by using a fictitious obstacle around the goal state

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996