Mobile robot navigation based on turning point algorithm and sliding mode controller

被引：0

作者：

Hassani, Imen ^{[1
]}

Maalej, Imen ^{[1
]}

Rekik, Chokri ^{[1
]}

机构：

[1] Univ Sfax, Sfax Engn Sch, CEM Lab, Control & Energy Management Lab, BP W, Sfax 3038, Tunisia

来源：

2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD) | 2018年

关键词：

Mobile robot; static obstacle; turning point; sliding mode; TRAJECTORY TRACKING;

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：

The design of an efficient navigation approach for the mobile robot and the insurance of its security are important tasks to achieve, when the robot goes from an initial position to the desired one. The aim of the present work is to develop an algorithm using a turning point in order to find the shortest path and help the robot to reach the target without hitting obstacles. In this manuscript, we developed an algorithm in a static environment where the positions of obstacles are known at first. In addition, a sliding mode controller is used to achieve robustness, stability and reactivity. Finally, simulation results are presented to illustrate the utility and the validity of this approach.

引用

页码：1380 / 1385

页数：6

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