Switching control approach for stable navigation of mobile robots in unknown environments

JUAN MARCOS TOIBERO; FLAVIO ROBERTI; RICARDO CARELLI; PAOLO FIORINI

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

PERGAMON-ELSEVIER SCIENCE LTD

Lugar: Amsterdam; Año: 2011 vol. 27 p. 558 - 568

0736-5845

This paper presents a stable switching control strategy for the parking problemof non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/ obstacle-avoider controller is analyzed showing stability under reasonable conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.