INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Design of stable algorithms for mobile robot control with obstacle avoidance
Autor/es:
HUMBERTO SECCHI; RICARDO CARELLI; VICENTE MUT
Lugar:
Beijing, China
Reunión:
Congreso; 4th World Congress, International Federation of Automatic Control IFAC; 1999
Institución organizadora:
International Federation of Automatic Control
Resumen:
In this paper mobile robot control laws, including obstacle avoidance based on ultrasonic sensorial information are proposed. The mobile robot is assumed to evolve in a semi-structured environment. The control systems are based on the use of the extended impedance concept, in which the relationship between fictitious forces and motion error is regulated. The fictitious forces are generated from the information provided by ultrasonic sensors on the distance from the obstacle to the robot. The control algorithms also prevent from the potential problem of control command saturation. The paper includes the stability analysis of the developed control systems, using positive definite potential functions.
