A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

被引：139

作者：

Matveev, Alexey S. ^{[1
]}

Teimoori, Hamid ^{[2
]}

Savkin, Andrey V. ^{[2
]}

机构：

[1] St Petersburg Univ, Dept Math & Mech, St Petersburg 198504, Russia

[2] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia

来源：

AUTOMATICA | 2011年 / 47卷 / 03期

基金：

俄罗斯基础研究基金会; 澳大利亚研究理事会;

关键词：

Border patrolling; Obstacle avoidance; Navigation; Cluttered environments; Wheeled mobile robots; UAVs; ROBOT NAVIGATION; DIFFERENTIATION;

D O I：

10.1016/j.automatica.2011.01.024

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a sliding mode based method for a unicycle-like vehicle control and guidance. The proposed guidance-control law is applied to the problems of border patrolling and obstacle avoidance. A mathematically rigorous analysis of this law is provided. (c) 2011 Elsevier Ltd. All rights reserved.

引用

页码：515 / 524

页数：10

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