@inproceedings{4f14ed18906646588ee2a56d868d08a8,
title = "Real time feedback control for nonholonomic mobile robots with obstacles",
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.",
author = "Lindemann, {Stephen R.} and Hussein, {Islam I.} and LaValle, {Steven M.}",
year = "2006",
doi = "10.1109/cdc.2006.377631",
language = "English (US)",
isbn = "1424401712",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2406--2411",
booktitle = "Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC",
address = "United States",
note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",
}