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

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.

Full text not available from this repository.

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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Guldner, J.UNSPECIFIEDUNSPECIFIED
Utkin, V.I.UNSPECIFIEDUNSPECIFIED
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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