Title :
Sliding mode navigation control in intelligent space
Author :
Precup, Radu-Emil ; Preitl, Stefan ; Szabó, Csongor ; Gyurkó, Zoltan ; Szemes, Péter
Author_Institution :
Dept. of Autom. & Ind. Informatics, Politehnica Univ. of Timisoara, Romania
Abstract :
We present a general description for obstacle avoidance algorithms that can also describe the obstacle avoidance style (walking habit) of moving objects (human beings). A complex sliding mode based obstacle avoidance is presented as a test method, which is learned and modeled by this general description. We present simulation results of three control systems by considering the robot movement control approximated by a benchmark-type one-dimensional model.
Keywords :
collision avoidance; digital simulation; intelligent control; mobile robots; navigation; variable structure systems; benchmark-type one-dimensional model; control system simulation; intelligent space; obstacle avoidance algorithms; robot movement control; sliding mode navigation control; vector field based guiding model; Humans; Intelligent actuators; Intelligent control; Intelligent robots; Intelligent sensors; Navigation; Orbital robotics; Robot sensing systems; Service robots; Sliding mode control;
Conference_Titel :
Intelligent Signal Processing, 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7864-4
DOI :
10.1109/ISP.2003.1275843
