AGV obstacle avoidance using impedance control based on ultrasonic sensing

HUMBERTO SECCHI; RICARDO CARELLI; VICENTE MUT; TEODIANO FREIRE BASTOS; HANS SCHNEEBELI

Viña del Mar, Chile

Congreso; VIII Congreso Latinoamericano de Control Automático; 1998

Sociedad Chilena de Automática

In this paper a mobile robot control law, including obstacle avoidance based on ultrasonic sensorial information is proposed. The mobile robot is assumed to evolve in a semi-structured environment. The control system is 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 paper includes the stability analysis of the developed control system, showing that it is asymptotically globally stable. Simulation results when applying this control law to an experimental mobile robot show its good performance.