@unpublished{eprints1227,
           month = {April},
          author = {Antonella Ferrara and Matteo Rubagotti},
           title = {Sliding mode control of a mobile robot for dynamic obstacle
avoidance based on a time-varying harmonic potential field},
       booktitle = {ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles },
            year = {2007},
             url = {http://eprints.imtlucca.it/1227/},
        abstract = {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.}
}