Real time feedback control for nonholonomic mobile robots with obstacles

Stephen R. Lindemann, Islam I. Hussein, Steven M Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We introduce a method for constructing smooth feedback laws for a nonholonomic robot in a 2-dimensional polygonal workspace. First, we compute a smooth feedback law in the workspace without taking the nonholonomic constraints into account. We then give a general technique for using this to construct a new smooth feedback law over the entire 3-dimensional configuration space (consisting of position and orientation). The trajectories of the resulting feedback law will be smooth and will stabilize the position of the robot in the plane, neglecting the orientation. Our method is suitable for real time implementation and can be applied to dynamic environments.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Pages2406-2411
Number of pages6
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

Fingerprint Dive into the research topics of 'Real time feedback control for nonholonomic mobile robots with obstacles'. Together they form a unique fingerprint.

Cite this