A REACTIVE PATH-FOLLOWING CONTROLLER TO GUARANTEE OBSTACLE AVOIDANCE DURING THE TRANSIENT PHASE

V. Cadenat, P. Souères, and T. Hamel

Keywords

Nonholonomic mobile robots, pathfollowing control, obstacle avoidance, sensorbased control

Abstract

This paper presents a reactive path-following controller that allows avoidance of convex obstacles during the transient phase. The proposed method relies on the definition of a time-varying sliding manifold. This additional degree of freedom is used to modify the shape of the vehicle’s trajectory, in the vicinity of obstacles, on the basis of exteroceptive data. The asymptotic stability of the closedloop system is proven by means of Lyapunov analysis. The method is applied to control a cart-like vehicle equipped with ultrasonic sensors. Experimental results are presented to illustrate the interest of the approach.

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