Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot

被引：0
|
作者：
Akira INOUE [1 ]
Katsuya SEKIGUCHI [1 ]
机构：
[1] Department of Systems Engineering
来源：
JournalofControlTheoryandApplications | 2008年 / 04期
关键词：
Obstacle avoidance; Lyapunov function; Mobile robot; Robot control;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lya-punov function. When considering the obstacle, the Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima with a plane surface. The effectiveness of the proposed method is verified by numerical simulations.
引用
收藏
页码：399 / 404
页数：6
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