%0 Journal Article
	%A Avinesh Prasad and  Bibhya Sharma and  Jito Vanualailai
	%D 2012
	%J International Journal of Mathematical and Computational Sciences
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 72, 2012
	%T Motion Planning and Control of Autonomous Robots in a Two-dimensional Plane
	%U https://publications.waset.org/pdf/13515
	%V 72
	%X This paper proposes a solution to the motion planning
and control problem of a point-mass robot which is required to move
safely to a designated target in a priori known workspace cluttered
with fixed elliptical obstacles of arbitrary position and sizes. A
tailored and unique algorithm for target convergence and obstacle
avoidance is proposed that will work for any number of fixed
obstacles. The control laws proposed in this paper also ensures that
the equilibrium point of the given system is asymptotically stable.
Computer simulations with the proposed technique and applications
to a planar (RP) manipulator will be presented.
	%P 1757 - 1762