DocumentCode
2805972
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
fYear
1991
fDate
3-5 Nov 1991
Firstpage
1287
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174678
Filename
174678
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