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On the navigation of mobile robots in narrow passages: a general framework based on sliding mode theory

Guldner, J. and Utkin, V.I. (1993) On the navigation of mobile robots in narrow passages: a general framework based on sliding mode theory. DLR-Interner Bericht. 515-93-17. 19 S.

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Abstract

This paper establishes a general framework for the passing of mobile robots between closely spaced obstacles and through narrow passages. Under such circumstances, the artificial potential function method often leads to lock-up situations (local minima) and oscillatory motion. Sliding mode theory is utilized to examine the gradient of an artificial potential field in the vicinity of the equi-distance line between the passage constraints. State-dependent and time-dependent smoothing methods are introduced that enable tracking of the gradient lines and decrease the influence of the obstacles in this region, ensuring safe passing. The methodology is illustrated in several numerical case studies in known and unknown environments.

Item URL in elib:https://elib.dlr.de/28040/
Document Type:Monograph (DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=1993,
Title:On the navigation of mobile robots in narrow passages: a general framework based on sliding mode theory
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Guldner, J.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Utkin, V.I.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:1993
Open Access:No
Number of Pages:19
Status:Published
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W RP - Raumtransport
DLR - Research area:UNSPECIFIED
DLR - Program:W RP - Raumtransport
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:52

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