Nonholonomic stabilization with collision avoidance for mobile robots
نویسندگان
چکیده
This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. This closed loop approach combines appropriately designed (dipolar) potential fields with discontinuous feedback and is suitable for real time implementation. It makes use of a novel kind of Lyapunov functions which are useful for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties of the closed loop system are verified through computer simulations.
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