A REACTIVE PATH-FOLLOWING CONTROLLER TO GUARANTEE OBSTACLE AVOIDANCE DURING THE TRANSIENT PHASE
V. Cadenat, P. Souères, and T. Hamel
Keywords
Nonholonomic mobile robots, path-following control, obstacle avoidance, sensor-based control
Abstract
This paper presents a reactive path-following controller that allows
avoidance of convex obstacles during the transient phase. The
proposed method relies on the definition of a time-varying sliding
manifold. This additional degree of freedom is used to modify the
shape of the vehicle’s trajectory, in the vicinity of obstacles, on the
basis of exteroceptive data. The asymptotic stability of the closed-
loop system is proven by means of Lyapunov analysis. The method
is applied to control a cart-like vehicle equipped with ultrasonic
sensors. Experimental results are presented to illustrate the interest
of the approach.
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