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

Antonella Ferrara; Matteo Rubagotti

doi:10.1109/CCA.2009.5281109

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 proceeding › Conference 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 language	English
Title of host publication	2009 IEEE International Conference on Control Applications, CCA '09
Pages	1535-1540
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2009.5281109
Publication status	Published - Dec 1 2009
Externally published	Yes
Event	2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation Duration: Jul 8 2009 → Jul 10 2009

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Conference

Conference	2009 IEEE International Conference on Control Applications, CCA '09
Country	Russian Federation
City	Saint Petersburg
Period	7/8/09 → 7/10/09

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

Access to Document

10.1109/CCA.2009.5281109

Fingerprint Dive into the research topics of 'A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control'. Together they form a unique fingerprint.

Cite this

A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control. / Ferrara, Antonella; Rubagotti, Matteo.

2009 IEEE International Conference on Control Applications, CCA '09. 2009. p. 1535-1540 5281109 (Proceedings of the IEEE International Conference on Control Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ferrara, A & Rubagotti, M 2009, A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control. in 2009 IEEE International Conference on Control Applications, CCA '09., 5281109, Proceedings of the IEEE International Conference on Control Applications, pp. 1535-1540, 2009 IEEE International Conference on Control Applications, CCA '09, Saint Petersburg, Russian Federation, 7/8/09. https://doi.org/10.1109/CCA.2009.5281109

@inproceedings{74b3964fb30246049731bec5669f20e5,

title = "A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control",

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.",

author = "Antonella Ferrara and Matteo Rubagotti",

year = "2009",

month = dec,

day = "1",

doi = "10.1109/CCA.2009.5281109",

language = "English",

isbn = "9781424446025",

series = "Proceedings of the IEEE International Conference on Control Applications",

pages = "1535--1540",

booktitle = "2009 IEEE International Conference on Control Applications, CCA '09",

note = "2009 IEEE International Conference on Control Applications, CCA '09 ; Conference date: 08-07-2009 Through 10-07-2009",

}

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.

UR - http://www.scopus.com/inward/record.url?scp=74049103330&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=74049103330&partnerID=8YFLogxK

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 -