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		Mingcong DENG,Akira INOUE,Katsuya SEKIGUCHI.[en_title][J].Control Theory and Technology,2008,6(4):399~404.[Copy]

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MingcongDENG,AkiraINOUE,KatsuyaSEKIGUCHI
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Received:January 22, 2007Revised:May 08, 2007

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

Mingcong DENG, Akira INOUE, Katsuya SEKIGUCHI

(Department of Systems Engineering, Okayama University, Okayama 700-8530, Japan)

Abstract:

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.

Key words: Obstacle avoidance Lyapunov function Mobile robot Robot control