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Obstacle avoidance and finite-time tracking of mobile targets

conference contribution
posted on 06.12.2017, 00:00 by Daniel StonierDaniel Stonier, Russel StonierRussel Stonier
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.

Funding

Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)

History

Start Page

58

End Page

63

Number of Pages

6

Start Date

01/01/2004

ISBN-10

0476009944

Location

Palmerston North, N.Z.

Publisher

Massey University

Place of Publication

Palmerston North, NZ

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Faculty of Informatics and Communication; TBA Research Institute;

Era Eligible

Yes

Name of Conference

International Conference on Autonomous Robots and Agents