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Presentation
Feedback Control of a Nonholonomic Vehicle Among Moving Obstacles Using Variable Structure Observer
Infotech@Aerospace (2011)
  • Stephen G. Armstrong, Embry-Riddle Aeronautical University - Daytona Beach
  • Sergery V. Drakunov, Embry-Riddle Aeronautical University - Daytona Beach
  • Mahmut Reyhanoglu, Embry-Riddle Aeronautical University - Daytona Beach
Abstract
"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.
Keywords
  • Nonholonomic vehicles,
  • automatic parking of automobiles
Publication Date
March, 2011
Location
St. Louis, MO
DOI
10.2514/6.2011-1586
Comments
AIAA paper 2011-1586, published by the American Institute of Aeronautics and Astronautics.
Citation Information
Stephen 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/