eprintid: 1221
rev_number: 10
eprint_status: archive
userid: 37
dir: disk0/00/00/12/21
datestamp: 2012-03-06 13:33:24
lastmod: 2013-09-30 12:27:16
status_changed: 2012-03-06 13:33:24
type: book_section
metadata_visibility: show
creators_name: Ferrara, Antonella
creators_name: Rubagotti, Matteo
title: A dynamic obstacle avoidance strategy for a mobile robot based on sliding mode control
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
keywords: Control systems, H infinity control, Manipulators, Mobile robots, Motion planning, Signal generators, Sliding mode control, Trajectory, Vehicles, Wheels 
note: 18th IEEE International Conference on Control Applications
Part of 2009 IEEE Multi-conference on Systems and Control
Saint Petersburg, Russia, July 8-10, 2009
abstract: 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.
date: 2009-07
date_type: published
publisher: IEEE
pagerange: 1535 -1540
event_title: Control Applications, (CCA) Intelligent Control, (ISIC), 2009 IEEE
id_number: 10.1109/CCA.2009.5281109
refereed: TRUE
isbn: 978-1-4244-4601-8 
book_title: Proceedings of the Control Applications, (CCA) & Intelligent Control, (ISIC)
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5281109&isnumber=5280693
citation:   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)