title   
  

Sliding mode based obstacle avoidance and target tracking for mobile robots

Yannier, Selim and Şabanoviç, Asif and Onat, Ahmet and Baştan, Muhammet (2005) Sliding mode based obstacle avoidance and target tracking for mobile robots. In: IEEE International Symposium on Industrial Electronics - ISIE 2005, Dubrovnik, Croatia

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Abstract

In this work, we suggested a solution for the basic tasks of a mobile robot capable of being a building block of an intelligent agent in group. This solution includes obstacle avoidance and goal tracking implemented as two different controllers. A geometry based behavior arbitration is proposed for fusing the output of those two controllers. Proposed structure is tested both on simulations and on real robot with different scenarios. Results have confirmed the high performance of the method.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery
ID Code:1498
Deposited By:Asif Şabanoviç
Deposited On:04 Jan 2006 02:00
Last Modified:25 May 2011 14:22

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