Loading [a11y]/accessibility-menu.js
A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles | IEEE Conference Publication | IEEE Xplore

A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles


Abstract:

The article proposes a feedback control system for real-time navigation and obstacle avoidance that is made of two components: (i) a sensor-based, real-time model that ge...Show More

Abstract:

The article proposes a feedback control system for real-time navigation and obstacle avoidance that is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has some unique characteristics, among which it requires very few computational resources as a consequence of its extreme simplicity. In spite of this, it is formally demonstrated to be asymptotically stable, as well as computationally efficient to be implemented in real-world scenarios where obstacles are not known, and possibly move in the environment.
Date of Conference: 10-15 October 2009
Date Added to IEEE Xplore: 15 December 2009
ISBN Information:

ISSN Information:

Conference Location: St. Louis, MO, USA

References

References is not available for this document.