Obstacle avoidance and finite-time tracking of mobile targets

In this paper we consider the finite time control of a simulated point mass robot with acceleration control to a target in an environment possessing obstacles that the robot must avoid. Both target and obstacles may be non-stationary. The algorithm presented combines classical Liapunov techniques and Terminal Sliding Modes to simlultaneosly achieve obstacle avoidance and finite time convergence - properties previously distinct to both methods.