Yannier, Selim and Şabanoviç, Asif and Onat, Ahmet and Baştan, Muhammet (2004) Sliding mode based behavior control. In: INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY,
Full text not available from this repository. (Request a copy)Abstract
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.
| Item Type: | Papers in Conference Proceedings |
|---|---|
| Uncontrolled Keywords: | Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Engineering and Natural Sciences |
| Depositing User: | Ahmet Onat |
| Date Deposited: | 21 Feb 2007 02:00 |
| Last Modified: | 26 Apr 2022 08:39 |
| URI: | https://research.sabanciuniv.edu/id/eprint/1618 |
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