Sliding mode control for an obstacle avoidance strategy based on an electrical potential field

Kurzfassung

This paper introduces a sliding mode strategy for controlling the trajectory of a mobile robot. An electrical potential field is used to specify admissible trajectories leading around obstacles. The sliding mode controller is shown to provide motion along the gradient lines of the electrical potential field, avoiding collisions with obstacles. The proposed method requires very little computations and no pre-processing of the environment and thus, is suitable for on-one applications. Simulations are used to demonstrate the methodology and utility of this strategy.