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Motion Control of Mobile Robots - From Static Targets to Fast Drives in Moving Crowds

Webers, Christfried; Zimmer, Uwe


Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting trajectory as well as the control parameters are asymptotically converging and glitches in the localization are handled robustly. The differences to a known method based on Lyapunov functions are discussed...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Journal article
Source: Autonomous Robots
DOI: 10.1023/A:1014049410772


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