A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

作者：Matveev Alexey S^*; Teimoori Hamid; Savkin Andrey V

来源：Automatica, 2011, 47(3): 515-524.

DOI：10.1016/j.automatica.2011.01.024

• Border patrolling
• Obstacle avoidance
• Navigation
• Cluttered environments
• Wheeled mobile robots
• UAVs

We present a sliding mode based method for a unicycle-like vehicle control and guidance. The proposed guidance-control law is applied to the problems of border patrolling and obstacle avoidance. A mathematically rigorous analysis of this law is provided.

• 出版日期2011-3