LEICI   25638
INSTITUTO DE INVESTIGACIONES EN ELECTRONICA, CONTROL Y PROCESAMIENTO DE SEÑALES
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Obstacle avoidance under strict path following
Autor/es:
FABRICIO GARELLI; HERNÁN DE BATTISTA; JUAN LUIS ROSENDO; FERNANDO VALENCIAGA
Lugar:
Mar del Plata
Reunión:
Conferencia; 2017 XVII Workshop on Information Processing and Control (RPIC); 2017
Institución organizadora:
Universidad Nacional de Mar del Plata
Resumen:
In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement a speed adaption loop which based on a discontinuous signal product of a sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the problem of obstacle avoidance when it is forbidden for the robot to leave the given path. Furthermore, we are able to impose a robust desired dynamics in the approach between the robot and the obstacle.