Abstract
In this study, an original strategy to control a mobile robot in a dynamic environment is presented. The strategy consists of two main elements. The first is the method for the online trajectory generation based on harmonic potential fields, capable of generating velocity and orientation references, which extends classical results on harmonic potential fields for the case of static environments to the case when the presence of a moving obstacle with unknown motion is considered. The second is the design of sliding-mode controllers capable of making the controlled variables of the robot track in a finite minimum time both the velocity and the orientation references.
| Original language | English |
|---|---|
| Pages (from-to) | 1916-1924 |
| Number of pages | 9 |
| Journal | IET Control Theory and Applications |
| Volume | 5 |
| Issue number | 16 |
| DOIs | |
| Publication status | Published - Nov 3 2011 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Control and Optimization
- Electrical and Electronic Engineering
Cite this
Time-optimal sliding-mode control of a mobile robot in a dynamic environment. / Rubagotti, M.; Della Vedova, M. L.; Ferrara, A.
In: IET Control Theory and Applications, Vol. 5, No. 16, 03.11.2011, p. 1916-1924.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Time-optimal sliding-mode control of a mobile robot in a dynamic environment
AU - Rubagotti, M.
AU - Della Vedova, M. L.
AU - Ferrara, A.
PY - 2011/11/3
Y1 - 2011/11/3
N2 - In this study, an original strategy to control a mobile robot in a dynamic environment is presented. The strategy consists of two main elements. The first is the method for the online trajectory generation based on harmonic potential fields, capable of generating velocity and orientation references, which extends classical results on harmonic potential fields for the case of static environments to the case when the presence of a moving obstacle with unknown motion is considered. The second is the design of sliding-mode controllers capable of making the controlled variables of the robot track in a finite minimum time both the velocity and the orientation references.
AB - In this study, an original strategy to control a mobile robot in a dynamic environment is presented. The strategy consists of two main elements. The first is the method for the online trajectory generation based on harmonic potential fields, capable of generating velocity and orientation references, which extends classical results on harmonic potential fields for the case of static environments to the case when the presence of a moving obstacle with unknown motion is considered. The second is the design of sliding-mode controllers capable of making the controlled variables of the robot track in a finite minimum time both the velocity and the orientation references.
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UR - http://www.scopus.com/inward/citedby.url?scp=81255203812&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2010.0678
DO - 10.1049/iet-cta.2010.0678
M3 - Article
VL - 5
SP - 1916
EP - 1924
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
SN - 1751-8644
IS - 16
ER -