TY  - CHAP
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5281109&isnumber=5280693
TI  - A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control
AV  - none
Y1  - 2009/07//
KW  - Control systems
KW  -  H infinity control
KW  -  Manipulators
KW  -  Mobile robots
KW  -  Motion planning
KW  -  Signal generators
KW  -  Sliding mode control
KW  -  Trajectory
KW  -  Vehicles
KW  -  Wheels 
N2  - 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.
SP  - 1535 
A1  - Ferrara, Antonella
A1  - Rubagotti, Matteo
PB  - IEEE
SN  - 978-1-4244-4601-8 
T2  - Proceedings of the Control Applications, (CCA) & Intelligent Control, (ISIC)
EP  - 1540
N1  - 18th IEEE International Conference on Control Applications
Part of 2009 IEEE Multi-conference on Systems and Control
Saint Petersburg, Russia, July 8-10, 2009
ID  - eprints1221
ER  -