Embedding obstacle avoidance to trajectory tracking for unicycle mobile robots.
Cassius Z. ResendeRicardo O. CarelliTeodiano Freire Bastos FilhoMário Sarcinelli FilhoPublished in: IROS (2012)
Keyphrases
- obstacle avoidance
- mobile robot
- trajectory tracking
- visual servoing
- path planning
- closed loop
- bi directional
- control system
- dynamic model
- motion planning
- physical constraints
- unknown environments
- control law
- autonomous vehicles
- iterative learning
- dynamic environments
- robot control
- control method
- sliding mode
- collision avoidance
- robotic systems
- potential field
- autonomous robots
- multi robot
- sliding mode control
- degrees of freedom