Switching control approach for stable navigation of mobile robots in unknown environments

被引：27
|
作者：
Marcos Toibero, Juan [1 ]
Roberti, Flavio [1 ,2 ]
Carelli, Ricardo [1 ,2 ]
Fiorini, Paolo [3 ]
机构：
[1] Univ Nacl San Juan, Inst Automat INAUT, Av San Martin Oeste 1109, RA-5400 San Juan, Argentina
[2] Consejo Nacl Invest Cient & Tecn, Buenos Aires, DF, Argentina
[3] Univ Verona, Dipartimento Informat, I-37134 Verona, Italy
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2011年 / 27卷 / 03期
关键词：
Wheeled mobile robots; Nonlinear control; Multiple Lyapunov functions; Switched systems; Robot navigation; Stability; STABILITY; SYSTEMS;
D O I：
10.1016/j.rcim.2010.10.002
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacle-avoider controller is analyzed showing stability under reasonable conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results. (c) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：558 / 568
页数：11
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