Trajectory tracking using artificial potential fields

Raghuwaiya, Krishna and Singh, Shonal and Vanualailai, Jito (2012) Trajectory tracking using artificial potential fields. [Conference Proceedings]

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Abstract

In this paper, the trajectory tracking problem for car-like mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader’s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.

Item Type:	Conference Proceedings
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Unnamed user with email shonal.singh@usp.ac.fj
Date Deposited:	12 May 2013 23:57
Last Modified:	16 Jan 2017 01:58
URI:	http://repository.usp.ac.fj/id/eprint/5736

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