Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot
Mingcong DENG
Akira INOUE
Katsuya SEKIGUCHI
摘要：An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lyapunov function.When considering the obstacle,the Lyapunov function may have some local minima.A method which erases the local minima is proposed by using a function which covers the minima with a plane surface.The effectiveness of the proposed method is verified by numerical simulations.
机标关键词：mobile robotLyapunov functionlocal minimanumerical simulationsobstacle avoidance
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：6( 399-404 )
英文信息