Date of Award
9-2011
Access Type
Thesis - Open Access
Degree Name
Master of Science in Engineering Physics
Department
Physical Sciences
Committee Chair
Dr. Sergey V. Drakunov
First Committee Member
Dr. Mahmut Reyhanoglu
Second Committee Member
Dr. Bereket Berhane
Abstract
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.
Scholarly Commons Citation
Armstrong, Stephen Gregory, "Nonholonomic Feedback Control Among Moving Obstacles" (2011). Doctoral Dissertations and Master's Theses. 17.
https://commons.erau.edu/edt/17
