Raj, Jai and Raghuwaiya, Krishna and Vanualailai, Jito and Sharma, Bibhya N. (2019) Navigation of car - like robots in three - dimensional space. [Conference Proceedings]
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In this paper, we propose a new solution to the motion plan- ning and control problem via the Lyapunov-based Control Scheme for car-like mobile robots in three-dimension space navigating in a workspace cluttered with obstacles. To achieve this, a set of nonlinear continuous controllers for obstacle and collision avoidance is presented. The con- trollers provide a collision-free trajectory within a constrained workspace whilst satisfying the nonholonomic and kinodynamic constraints associated with the vehicular robotic system. In essence, the motion planner computes and generates a feasible collision-free path in the 3D workspace. The effectiveness of the control laws is demonstrated via computer simulations, which showcases the simplicity and effectiveness of the control technique.
| Item Type: | Conference Proceedings |
|---|---|
| Subjects: | Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | Faculty of Arts, Law and Education (FALE) > School of Education Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Ms Shalni Sanjana |
| Date Deposited: | 05 Feb 2020 02:41 |
| Last Modified: | 10 Mar 2020 02:21 |
| URI: | https://repository.usp.ac.fj/id/eprint/11964 |
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