Motion Control for Nonholonomic Wheeled Mobile Robots with Obstacle Avoidance
Access Status
Open access
Authors
Tran, Luc Quan
Date
2019Supervisor
Khac Duc Do
Type
Thesis
Award
PhD
Metadata
Show full item recordFaculty
Science and Engineering
School
School of Civil and Mechanical Engineering
Collection
Abstract
Wheeled mobile robot finds various applications because it can perform tasks autonomously in dangerous environments. Controlling this system has become active because of both challenges in applied nonlinear control theory and practical importance. This research aims to deploy nonlinear control strategies to solve two problems: path tracking and obstacle avoidance. The research extends the recent works to the scenario where collision avoidance between the robot and obstacles, and constraints in the control inputs are considered.
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