Navigation and obstacle avoidance via backstepping for mechanical systems with drift in the closed loop.
Jan Maximilian MontenbruckMathias BürgerFrank AllgöwerPublished in: ACC (2015)
Keyphrases
- obstacle avoidance
- mechanical systems
- closed loop
- motion planning
- control law
- mobile robot
- path planning
- trajectory planning
- open loop
- control system
- autonomous vehicles
- nonlinear systems
- degrees of freedom
- control scheme
- feedback control
- humanoid robot
- adaptive control
- pid controller
- multi robot
- neural network
- lyapunov function
- fuzzy logic controller