Control points searching algorithm for autonomous mobile robot navigation with obstacle avoidance

被引：0
|
作者：
Hassani, Imen [1 ]
Maalej, Imen [1 ]
Rekik, Chokri [1 ]
机构：
[1] Univ Sfax, Sfax Engn Sch, Control & Energy Management Lab, BP W, Sfax 3038, Tunisia
来源：
2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA) | 2019年
关键词：
Mobile robot; visibility condition; control points; sliding mode controller;
D O I：
10.1109/sta.2019.8717220
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Path planning is an important task in autonomous navigation. It aims to determinate the suitable path that allows the robot to reach the goal configuration safely and in short time. This manuscript investigates the navigation strategy for the wheeled mobile robot in known environment containing static obstacles. The approach is based on the evaluation of the visibility condition which handles if there is an intersection between the planned path and obstacles. Then, control points are determined to facilitate the construction of the safe path. Furthermore, a sliding mode controller is used for tracking the planned trajectory. At last, simulation results are presented to show the efficiency of the developed strategy.
引用
收藏
页码：152 / 157
页数：6
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