
%0 Journal Article
%A Sharma, B 
%T Solving the three-dimensional findpath problem via Liapunov's method
%J The South Pacific Journal of Natural and Applied Sciences
%D 2002/12/15
%V 20
%N 1
%P 48-55
%K 
%R https://doi.org/10.1071/SP02010
%U https://www.publish.csiro.au/paper/SP02010 
%X This paper presents a method for solving the findpath problem. Commonly known as the second or direct method of Liapunov, the method is used to solve this geometric problem of finding collision-free trajectories of moving solid objects amongst other fixed and moving solid objects. A Liapunov function is proposed for a n-point dynamical system in three-space. Computer simulations are carried out to show the effectiveness of the proposed Liapunov function-based feedback controllers. 
