Sliding mode based behavior control

Yannier, Selim and Şabanoviç, Asif and Onat, Ahmet and Baştan, Muhammet (2004) Sliding mode based behavior control. Proceedings of World Academy of Science, Engineering and Technology, 3 . pp. 237-240. ISSN 1307-6884

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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.
Item Type: Article
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 > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 21 Feb 2007 02:00
Last Modified: 22 May 2019 11:54

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