%0 Conference Paper
%A Ferrara, Antonella
%A Rubagotti, Matteo
%B ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles 
%C Rome, Italy
%D 2007
%F eprints:1227
%T Sliding mode control of a mobile robot for dynamic obstacle  avoidance based on a time-varying harmonic potential field
%U http://eprints.imtlucca.it/1227/
%X 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.