relation: http://eprints.imtlucca.it/1221/
title: A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control
creator: Ferrara, Antonella
creator: Rubagotti, Matteo
subject: QA75 Electronic computers. Computer science
subject: TJ Mechanical engineering and machinery
description: 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.
publisher: IEEE
date: 2009-07
type: Book Section
type: PeerReviewed
identifier:   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)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5281109&isnumber=5280693
relation: 10.1109/CCA.2009.5281109