Skip to main content
Article
Closed Loop Navigation for Mobile Agents in Dynamic Environments
Departmental Papers (MEAM)
  • Savvas G Loizou, National Technical University of Athens
  • Herbert G Tanner, University of New Mexico
  • R. Vijay Kumar, University of Pennsylvania
  • Kostas J Kyriakopoulos, National Technical University of Athens
Document Type
Conference Paper
Date of this Version
10-27-2003
Comments
Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Volume 4, pages 3769-3774.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Abstract

We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.

Citation Information
Savvas G Loizou, Herbert G Tanner, R. Vijay Kumar and Kostas J Kyriakopoulos. "Closed Loop Navigation for Mobile Agents in Dynamic Environments" (2003)
Available at: http://works.bepress.com/vijay_kumar/39/