INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Simultaneous Trajectory Tracking and Obstacle Avoidance for Unicycle-like Mobile Robots
Autor/es:
CASSIUS RESENDE; RICARDO CARELLI; TEODIANO FREIRE BASTOS; MARIO SARCINELLI
Lugar:
Paraná
Reunión:
Seminario; XIV Reunión de Procesamiento de la Información y Control, RPIC 2011; 2011
Institución organizadora:
UNER
Resumen:
This paper presents a new reactive method to track a trajectory and avoid obstacles simultaneously, considering unicycle mobile robots navigating in a semi-structured environment. The strategy here adopted is based on the concepts of mechanical impedance and ctitious forces. The stability of the control system thus built is also proven, using the theory of Lyapunov. Experimental results demonstrate that the evasion algorithm is quite ecient, allowing the robot to perform the obstacle avoidance using the shortest path possible, within the possibilities of the controller.
