Date of Award

9-2011

Document 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.

Share

COinS