INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Switching point to point controller for mobile robots in unknown environments
Autor/es:
MARCOS TOIBERO; RICARDO CARELLI; BENJAMÍN KUCHEN
Lugar:
Buenos Aires
Reunión:
Congreso; XX Congreso Argentino de Control Automático, AADECA06; 2006
Institución organizadora:
AADECA
Resumen:
In this paper a switching controller for positioning a unicycle-like mobile robot at a desired point with final orientation avoiding unknown obstacles is presented. Besides, an algorithm that allows the robot to detect when the obstacle was avoided is proposed. The obstacle avoidance is performed using a contour following controller. The switching controllers include the stability analysis at the switching times, using common Lyapunov functions and multiple Lyapunov functions. Finally, experimental results in a Pioneer III mobile robot show the performance of the proposed controllers.
