A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control

Antonella Ferrara, Matteo Rubagotti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified on-line, in order to make the robot avoid the collision with obstacles which move along non a-priori known trajectories with time-varying speed. The proposed multi-level sliding mode controller is capable of making the robot move tracking the prescribed reference signals determined by the trajectory generator. The simulation results confirm the good performances of this approach.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control Applications, CCA '09
Pages1535-1540
Number of pages6
DOIs
Publication statusPublished - Dec 1 2009
Externally publishedYes
Event2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation
Duration: Jul 8 2009Jul 10 2009

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

Conference2009 IEEE International Conference on Control Applications, CCA '09
CountryRussian Federation
CitySaint Petersburg
Period7/8/097/10/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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