Abstract
In this paper, we propose a discontinuous feedback controller for a two-wheeled mobile robot which moves in the presence of obstacles. The controller is designed by utilizing a positive definite function (Lyapunov function) which is minimized at a desired point, and it is possible to change the trajectory of the controlled system according to the choice of the Lyapunov function. In this paper, we consider some simple obstacles such as a flat wall, and construct a Lyapunov function corresponding to them. The controller derived from the Lyapunov function makes the system converge to the desired point avoiding the obstacles.
