Tracking trajectory of a mobile robot using sliding mode control

被引：0
|
作者：
Sahloul, Samia [1 ]
Benhalima, Donia [1 ]
Rekik, Chokri [1 ]
机构：
[1] Univ Sfax, Sfax Engn Sch, Control & Energy Management Lab CEM, BP W, Sfax 11733038, Tunisia
来源：
2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD) | 2018年
关键词：
Mobile robot; static obstacle; B-spline; sliding mode;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
We propose an approach specifically adapted to deal with the navigation problem of a mobile robot in a known environment. Our proposal method includes an off-line pre-processing phase. Its purpose is to build a roadmap of near-distance-optimal reference trajectories using the B-spline method, and an online phase which consists in tracking the reference trajectories by the use of sliding mode control.
引用
收藏
页码：1386 / 1390
页数：5
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