Date of Award


Access Type

Thesis - Open Access

Degree Name

Master of Science in Engineering Physics


Physical Sciences

Committee Chair

Dr. Sergey V. Drakunov

First Committee Member

Dr. Mahmut Reyhanoglu

Second Committee Member

Dr. Bereket Berhane


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.