A provably convergent dynamic window approach to obstacle avoidance

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 115-120

  Ögren, Petter ^a   Leonard, Naomi E ^b  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

^b Princeton University   (United States)

Author keywords

Lyapunov function; Mobile robots; Obstacle avoidance; Predictive control

Indexed keywords

AUTOMATION; COLLISION AVOIDANCE; LYAPUNOV FUNCTIONS; MOBILE ROBOTS; ROBOTS;

CONTROL LYAPUNOV FUNCTION; CONVERGENCE PROPERTIES; CONVERGENT DYNAMIC WINDOW APPROACH; DYNAMIC WINDOW APPROACH; GOAL CONFIGURATION; PREDICTIVE CONTROL; RECEDING HORIZON CONTROL; THEORETICAL TREATMENTS;

AIR NAVIGATION;

EID: 84945561501     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.00831     Document Type: Conference Paper

References (6)

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2. Brock, O. and O. Khatib (1999). High-speed navigation using the global dynamic window approach. IEEE International Conference on Robotics and Automation, Detroit, Michigan.
3. Fox, D., W. Burgard and S. Thrun (1997). The dynamic window approach to collision avoidance. IEEE Robotics and Automation Magazine, March pp. 23-33.
4. Latombe, J. (1991). Robot Motion Planning. Kluwer Academic Publishers. Boston, MA.
5. Lawton, J., B. Young and R. Beard (2001/2002). A decentralized approach to elementary formation maneuvers. To appear in IEEE Transactions on Robotics and Automation.
6. Primbs, J., V. Nevistic and John C. Doyle (1999). Nonlinear optimal control: A control lyapunov function and receding horizon perspective. Asian Journal of Control pp. Mardi, Vol 1, No. 1, pp. 14-24.