Feedback Control of a Nonholonomic Vehicle Among Moving Obstacles Using Variable Structure ObserverInfotech@Aerospace (2011)
"A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods."--From the paper, copyright by AIAA.
- Nonholonomic vehicles,
- automatic parking of automobiles
Publication DateMarch, 2011
LocationSt. Louis, MO
Citation InformationStephen G. Armstrong, Sergery V. Drakunov and Mahmut Reyhanoglu. "Feedback Control of a Nonholonomic Vehicle Among Moving Obstacles Using Variable Structure Observer" Infotech@Aerospace (2011)
Available at: http://works.bepress.com/mahmut_reyhanoglu/34/