An experience on stable control of mobile robots

RICARDO CARELLI; HUMBERTO SECCHI; VICENTE MUT

Santa Fe

Simposio; IX Reunión de Procesamiento de la Información y Control; 2001

Universidad Nacional del Litoral

This paper is based on a previous work (Carelli et all, 1999). In this paper mobile robot control laws, including obstacle avoidance based on distance sensorial information are developed. The mobile robot is assumed to evolve in a semistructured 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 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.et all, 1999). In this paper mobile robot control laws, including obstacle avoidance based on distance sensorial information are developed. The mobile robot is assumed to evolve in a semistructured 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 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.