TY - GEN
T1 - A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control
AU - Ferrara, Antonella
AU - Rubagotti, Matteo
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/CCA.2009.5281109
DO - 10.1109/CCA.2009.5281109
M3 - Conference contribution
AN - SCOPUS:74049103330
SN - 9781424446025
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1535
EP - 1540
BT - 2009 IEEE International Conference on Control Applications, CCA '09
T2 - 2009 IEEE International Conference on Control Applications, CCA '09
Y2 - 8 July 2009 through 10 July 2009
ER -