By Topic

Switching Control of Mobile Robots for Autonomous Navigation in Unknown Environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
J. M. Toibero ; Institute of Automatics (INAUT), San Juan, J5400ARL ARGENTINA. phone: +54-264-4213303; fax: +54-264-4213672, e-mail: ; R. Carelli ; B. Kuchen

This paper presents a switching controller for positioning a unicycle-like mobile robot at a desired point with final orientation avoiding obstacles in completely unknown environments. To this aim two complementary algorithms are included: the first decides whether to avoid an obstacle around its right or left side, and the second is intended to detect when an obstacle was successfully avoided. The obstacle avoidance is performed using a laser-based reactive contour-following controller. The switching controllers include the stability analysis at the switching times, using common and multiple Lyapunov functions. Finally, experimental results in a typical unicycle-like mobile robot show the performance of the proposed hybrid control system.

Published in:

Proceedings 2007 IEEE International Conference on Robotics and Automation

Date of Conference:

10-14 April 2007