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Obstacle avoidance and finite-time tracking of mobile targets
conference contributionposted on 2017-12-06, 00:00 authored 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.
Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)
Number of Pages6
LocationPalmerston North, N.Z.
Place of PublicationPalmerston North, NZ
External Author AffiliationsFaculty of Informatics and Communication; TBA Research Institute;