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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.
Funding
Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)
History
Start Page
58End Page
63Number of Pages
6Start Date
2004-01-01ISBN-10
0476009944Location
Palmerston North, N.Z.Publisher
Massey UniversityPlace of Publication
Palmerston North, NZPeer Reviewed
- Yes
Open Access
- No
External Author Affiliations
Faculty of Informatics and Communication; TBA Research Institute;Era Eligible
- Yes