Automotive Engineering Commons^™

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.