TY  - UNPB
M2  - Rome, Italy
UR  - http://www.isr.uc.pt/~urbano/WorkICRA07/papers/ICRA07-WPPNIV-P06.pdf
A1  - Ferrara, Antonella
A1  - Rubagotti, Matteo
T2  - ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles 
TI  - Sliding mode control of a mobile robot for dynamic obstacle
avoidance based on a time-varying harmonic potential field
N2  - 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.
ID  - eprints1227
Y1  - 2007/04/14/
AV  - none
ER  -