Hybrid potential field based control of differential drive mobile robots

DOI10.1007/S10846-012-9685-6MaRDI QIDQ1761275zbMATH OpenOpenAlexFDO

Authors Luis Valbuena, Herbert G. Tanner

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

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

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Cites work

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• Exponential stabilization of mobile robots with nonholonomic constraints
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• Nonholonomic motion planning: steering using sinusoids
• Robot navigation functions on manifolds with boundary
• Stabilization of Nonholonomic Systems Using Isospectral Flows
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Cited in

(7)

• Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles
• An asymptotically stable collision-avoidance system
• scientific article; zbMATH DE number 1869469 (Why is no real title available?)
• scientific article; zbMATH DE number 5836085 (Why is no real title available?)
• Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles
• A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer
• Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles

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