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Guldner, J. and Utkin, V.I. (1993) Sliding mode control for an obstacle avoidance strategy based on an electrical potential field. In: Proc. IEEE Conf. on Decision and Control. IEEE Conf. on Decision and Control, San Antonio/Texas, Dec. 1993.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/28041/ | |||||||||
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| Document Type: | Conference or Workshop Item (Paper) | |||||||||
| Additional Information: | LIDO-Berichtsjahr=1993, pages=18, | |||||||||
| Title: | Sliding mode control for an obstacle avoidance strategy based on an electrical potential field | |||||||||
| Authors: |
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| Date: | 1993 | |||||||||
| Journal or Publication Title: | Proc. IEEE Conf. on Decision and Control | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Event Title: | IEEE Conf. on Decision and Control, San Antonio/Texas, Dec. 1993 | |||||||||
| 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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