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    Motion Control for Nonholonomic Wheeled Mobile Robots with Obstacle Avoidance

    Tran L Q 2019.pdf (3.106Mb)
    Access Status
    Open access
    Authors
    Tran, Luc Quan
    Date
    2019
    Supervisor
    Khac Duc Do
    Type
    Thesis
    Award
    PhD
    
    Metadata
    Show full item record
    Faculty
    Science and Engineering
    School
    School of Civil and Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/78298
    Collection
    • Curtin Theses
    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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