Ferrara, Antonella and Rubagotti, Matteo Sliding mode control of a mobile robot for dynamic obstacle avoidance based on a time-varying harmonic potential field. In: ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles , April 14, 2007, Rome, Italy (Unpublished) (2007)Full text not available from this repository.
In this paper, a harmonic potential field method for dynamic environments is proposed to generate an on-line reference trajectory for a wheeled mobile robot. A sliding mode controller is used to make the robot move along the prescribed trajectory determined by the gradient lines. 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 mechanism through which the field is modified is based on the so-called ‘collision cone’ concept.
|Item Type:||Conference or Workshop Item (Paper)|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Research Area:||Computer Science and Applications|
|Depositing User:||Users 37 not found.|
|Date Deposited:||06 Mar 2012 15:10|
|Last Modified:||30 Sep 2013 12:24|
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