Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot

• 作 者: Mingcong DENG Akira INOUE Katsuya SEKIGUCHI
• 机 构: Department of Systems Engineering,Okayama University,Okayama 700-8530,Japan
• 出 处: 控制理论与应用（英文版）
• 发表日期: 2008年4期
• 关键词: Obstacle avoidance Lyapunov function Mobile robot Robot control

An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lyapunov function.When considering the obstacle,the Lyapunov function may have some local minima.A method which erases the local minima is proposed by using a function which covers the minima with a plane surface.The effectiveness of the proposed method is verified by numerical simulations.