A guaranteed obstacle avoidance guidance system - The safe maneuvering zone

@article{Lapierre2012AGO,
  title={A guaranteed obstacle avoidance guidance system - The safe maneuvering zone},
  author={Lionel Lapierre and Ren{\'e} Zapata},
  journal={Auton. Robots},
  year={2012},
  volume={32},
  pages={177-187}
}
This paper presents a practical solution to the guidance of a unicycle type robot, including path following, obstacle avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solution for obstacle avoidance, with guaranteed performance, is proposed. 

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