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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
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.

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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)
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