Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

@inproceedings{Kyriakopoulos1996NavigationON,
  title={Navigation of nonholonomic vehicles in complex environments with potential fields and tracking},
  author={Kostas J. Kyriakopoulos and P. Kakambouras and Nikos J. Krikelis},
  booktitle={ICRA},
  year={1996}
}
We treat the problem of navigation of a wheeled nonholonomic vehicle in an clattered environment by: (1) finding, at every instant, a new collision free reference position using potential fields, and (ii) tracking this using nonholonomic tracking. Thus, our feedback solution can be applied in real time and guarantee both convergence to a final position and collision avoidance. The issue of final orientation accommodation is resolved for a number of practical configurations b y using a… CONTINUE READING
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