Sliding mode based behavior control
Yannier, Selim and Şabanoviç, Asif and Onat, Ahmet and Baştan, Muhammet (2004) Sliding mode based behavior control. In: INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY,
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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.
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