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Integrated path control for autonomous systems based on an artificial potential field and sliding mode control

Guldner, J. and Utkin, V.I. (1993) Integrated path control for autonomous systems based on an artificial potential field and sliding mode control. DLR-Interner Bericht. 515-93-12, 20 S.

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Abstract

This paper introduces a new integrated path control strategy (combined path planning and motion control) for autonomous systems of arbitrary dimension. A harmonic artificial potential field is used to specify admissible trajectories leading around obstacles. Using a sliding mode controller, motion is generated along the gradient lines of the potential field, avoiding collisions with the obstacles. The computational complexity of the proposed method is extremely low, which makes it very suitable for on-line applications.The mthodology is applied to mobile robots moving amidst known obstacles. Although at most two obstacles are considered at each time instance, the goal point is approached continuously, following to a reasonably short path. Numerical examples are presented to demonstrate the utility of this new strategy.

Item URL in elib:https://elib.dlr.de/28042/
Document Type:Monograph (DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=1993,
Title:Integrated path control for autonomous systems based on an artificial potential field and sliding mode control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Guldner, J.UNSPECIFIEDUNSPECIFIED
Utkin, V.I.UNSPECIFIEDUNSPECIFIED
Date:1993
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:20
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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