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

Ferrara, Antonella and Rubagotti, Matteo A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control. In: Proceedings of the Control Applications, (CCA) & Intelligent Control, (ISIC). IEEE, 1535 -1540. ISBN 978-1-4244-4601-8 (2009)

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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 timevarying 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.

Item Type: Book Section
Identification Number: 10.1109/CCA.2009.5281109
Additional Information: 18th IEEE International Conference on Control Applications Part of 2009 IEEE Multi-conference on Systems and Control Saint Petersburg, Russia, July 8-10, 2009
Uncontrolled Keywords: Control systems, H infinity control, Manipulators, Mobile robots, Motion planning, Signal generators, Sliding mode control, Trajectory, Vehicles, Wheels
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Users 37 not found.
Date Deposited: 06 Mar 2012 13:33
Last Modified: 30 Sep 2013 12:27
URI: http://eprints.imtlucca.it/id/eprint/1221

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