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Obstacle avoidance and finite-time tracking of mobile targets
conference contribution
posted on 2017-12-06, 00:00 authored by Daniel StonierDaniel Stonier, Russel StonierRussel StonierIn 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.