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Nonholonomic Feedback Control Among Moving Obstacles, Stephen Gregory Armstrong
Nonholonomic Feedback Control Among Moving Obstacles, Stephen Gregory Armstrong
Doctoral Dissertations and Master's Theses
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.