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Switching Control of MRs for Autonomous Navigation in Unknown Environments

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Switching Control of MRs for Autonomous Navigation in Unknown Environments. Juan Marcos Toibero, Ricardo Carelli , and Benjamin Kuchen Instituto de Automática (INAUT) , San Juan National University, ARG. Switching controller for positioning a unicycle-like WMR at a desired final posture

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slide1

Switching Control of MRs for Autonomous

Navigation in Unknown Environments

Juan Marcos Toibero, Ricardo Carelli, and Benjamin KuchenInstituto de Automática (INAUT), San Juan National University, ARG

  • Switching controller for positioning a unicycle-like WMR at a desired final posture
  • Obstacle avoidance in unknown environments using a contour- following strategy
  • Multiple Lyapunov Function based approach to prove stability
  • Experimental results in real office setting
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