eprintid: 1227
rev_number: 8
eprint_status: archive
userid: 37
dir: disk0/00/00/12/27
datestamp: 2012-03-06 15:10:50
lastmod: 2013-09-30 12:24:26
status_changed: 2012-03-06 15:10:50
type: conference_item
metadata_visibility: show
creators_name: Ferrara, Antonella
creators_name: Rubagotti, Matteo
title: Sliding mode control of a mobile robot for dynamic obstacle
avoidance based on a time-varying harmonic potential field
ispublished: unpub
subjects: TJ
divisions: CSA
full_text_status: none
pres_type: paper
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.
date: 2007-04-14
event_title: ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles 
event_location: Rome, Italy
event_dates: April 14, 2007
event_type: workshop
refereed: TRUE
official_url: http://www.isr.uc.pt/~urbano/WorkICRA07/papers/ICRA07-WPPNIV-P06.pdf
citation:   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In: ICRA2007 Workshop Perception, Planning and Navigation for Intelligent Vehicles , April 14, 2007, Rome, Italy       (Unpublished)   (2007)