{"data":{"id":"10.6084/m9.figshare.1579462","type":"dois","attributes":{"doi":"10.6084/m9.figshare.1579462","prefix":"10.6084","suffix":"m9.figshare.1579462","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Nonaka, Ryo","nameType":"Personal","givenName":"Ryo","familyName":"Nonaka","affiliation":[],"nameIdentifiers":[]},{"name":"Yuh Yamashita","affiliation":[],"nameIdentifiers":[]},{"name":"Tsubakino, Daisuke","nameType":"Personal","givenName":"Daisuke","familyName":"Tsubakino","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"Multiple obstacle avoidance of four-wheeled vehicle with steering limitation using nondifferentiable control Lyapunov function"}],"publisher":"Taylor \u0026 Francis","container":{},"publicationYear":2015,"subjects":[{"subject":"111714 Mental Health","subjectScheme":"FOR"},{"subject":"FOS: Health sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Health sciences","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Science Policy"},{"subject":"Cancer"},{"subject":"Developmental Biology"},{"subject":"Mathematics"},{"subject":"FOS: Mathematics","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Mathematics","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Biological Sciences"},{"subject":"Physiology"},{"subject":"FOS: Biological sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Biological sciences","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Neuroscience"},{"subject":"Engineering"},{"subject":"Biochemistry"}],"contributors":[],"dates":[{"date":"2015-10-19","dateType":"Created"},{"date":"2015-10-19","dateType":"Updated"},{"date":"2015","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"10.1080/01691864.2015.1090333","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":["24424604 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"Controlling a mobile robot in a space with obstacles is a well-known problem in robotics. The control objective is for the mobile robot to reach a goal point with obstacle avoidance. In this paper, we specially consider the multiple obstacle avoidance problem for particularly a four-wheeled vehicle. Assuming that the shapes and locations of the obstacles are known, we propose a design method of a nondifferentiable navigation function, which guides a vehicle at the desired point. The control law for the four-wheeled vehicle is obtained from the extended function of the navigation function. As four-wheeled vehicles cannot move sideways because of their nonholonomic constraint, the proposed control law addresses this difficulty by considering a decrease in the control Lyapunov function, and can be applied to vehicles with steering limitations. Moreover, the control law makes it possible for the vehicles to achieve an -point turn automatically without the need for any rule-based decision-making or heuristic method. The four-wheeled vehicle can reach the goal point from any initial point under the proposed control law. Our experimental results with a small four-wheeled vehicle are presented at the end of this paper.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://tandf.figshare.com/articles/dataset/Multiple_obstacle_avoidance_of_four_wheeled_vehicle_with_steering_limitation_using_nondifferentiable_control_Lyapunov_function/1579462","contentUrl":null,"metadataVersion":2,"schemaVersion":"http://datacite.org/schema/kernel-4","source":"mds","isActive":true,"state":"findable","reason":null,"viewCount":0,"viewsOverTime":[],"downloadCount":0,"downloadsOverTime":[],"referenceCount":0,"citationCount":0,"citationsOverTime":[],"partCount":0,"partOfCount":0,"versionCount":0,"versionOfCount":0,"cre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