relation: http://eprints.imtlucca.it/1227/
title: Sliding mode control of a mobile robot for dynamic obstacle  avoidance based on a time-varying harmonic potential field
creator: Ferrara, Antonella
creator: Rubagotti, Matteo
subject: TJ Mechanical engineering and machinery
description: 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.
date: 2007-04-14
type: Conference or Workshop Item
type: PeerReviewed
identifier:   Ferrara, Antonella and Rubagotti, Matteo  Sliding mode control of a mobile robot for dynamic obstacle avoidance based on a time-varying harmonic potential field.  In: ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles , April 14, 2007, Rome, Italy       (Unpublished)   (2007)  
relation: http://www.isr.uc.pt/~urbano/WorkICRA07/papers/ICRA07-WPPNIV-P06.pdf