Title :
Robot path obstacle avoidance control via sliding mode approach
Author :
Utkin, Vadim I. ; Drakunov, Sergey V. ; Hashimoto, Hideki ; Harashima, Fumio
Author_Institution :
Inst. of Control Sci., Moscow, USSR
Abstract :
The approach described consists in constructing potential fields in configuration space like an electrostatic one with changes distributed in such a way that the generalized force curves are attracted to the goal point and avoid obstacles. The system follows such force curves by using sliding mode. The strategy of robot path obstacle avoidance control with sliding mode is presented and discussed in the two-dimensional space
Keywords :
mobile robots; navigation; position control; variable structure systems; 2D space; navigation; obstacle avoidance path control; position control; potential fields; robot; sliding mode; Algorithm design and analysis; Control systems; Electrostatics; Force control; Force measurement; Motion control; Robots; Sliding mode control; Space charge; Torque control;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174678
