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.
","abstract_html":"<p>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.</p>","abstract_has_math":false,"creators":["Armstrong, Stephen Gregory"],"institution":null,"degree_name":"Master of Science in Engineering Physics","degree_level":"Thesis - Open Access","degree_discipline":"Physical Sciences","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-09-01T07:00:00Z","date_published":"2011-09-01T07:00:00Z","updated_at":"2026-07-27T19:25:45Z","subjects":["nonholonomic systems","feedback control","Automotive Engineering","Navigation, Guidance, Control, and Dynamics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://commons.erau.edu/edt/17","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Armstrong, Stephen Gregory"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"thesis:degree_discipline","label":"Discipline","values":["Physical Sciences"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis - Open Access"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science in Engineering Physics"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["nonholonomic systems","feedback control","Automotive Engineering","Navigation, Guidance, Control, and Dynamics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://commons.erau.edu/edt/17"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["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.
"]},{"key":"dc:title","label":"Title","values":["Nonholonomic Feedback Control Among Moving Obstacles"]}]}],"canonical_facts":{"dc:creator":["Armstrong, Stephen Gregory"],"dc:description.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.
"],"dc:identifier":["https://commons.erau.edu/edt/17"],"dc:subject":["nonholonomic systems","feedback control","Automotive Engineering","Navigation, Guidance, Control, and Dynamics"],"dc:title":["Nonholonomic Feedback Control Among Moving Obstacles"],"thesis:degree_discipline":["Physical Sciences"],"thesis:degree_level":["Thesis - Open Access"],"thesis:degree_name":["Master of Science in Engineering Physics"]},"updated_at":"2026-07-27T19:25:45Z"}