A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

被引：137
|
作者：
Matveev, Alexey S. [1 ]
Teimoori, Hamid [2 ]
Savkin, Andrey V. [2 ]
机构：
[1] St Petersburg Univ, Dept Math & Mech, St Petersburg 198504, Russia
[2] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
AUTOMATICA | 2011年 / 47卷 / 03期
基金：
俄罗斯基础研究基金会; 澳大利亚研究理事会;
关键词：
Border patrolling; Obstacle avoidance; Navigation; Cluttered environments; Wheeled mobile robots; UAVs; ROBOT NAVIGATION; DIFFERENTIATION;
D O I：
10.1016/j.automatica.2011.01.024
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a sliding mode based method for a unicycle-like vehicle control and guidance. The proposed guidance-control law is applied to the problems of border patrolling and obstacle avoidance. A mathematically rigorous analysis of this law is provided. (c) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：515 / 524
页数：10
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