%D 2011
%K dynamic environment; finite minimum time; harmonic potential fields; mobile robot track; online trajectory generation; orientation reference; sliding mode controller design; time optimal sliding mode control; control system synthesis; mobile robots; optimal control; variable structure systems
%L eprints1207
%I Institution of Engineering and Technology (IET) 
%N 16
%T Time-optimal sliding-mode control of a mobile robot in a dynamic environment
%R 10.1049/iet-cta.2010.0678
%V 5
%X 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.
%J IET Control Theory and Applications
%P 1916 -1924
%A Matteo Rubagotti
%A Marco L. Della Vedova
%A Antonella Ferrara