Mobile Robot Control Architecture for Reflexive Avoidance of Moving Obstacles

Hong, Keum–Shik; Tamba, Tua A.; Song, Jae Bok

doi:10.1163/156855308x360488

Cited by 20 publications

(13 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Other studies have employed navigation functions [9]- [12] In [9]- [11], a novel navigation function for a nonholonomic rear-steered wheeled vehicle was proposed. In this work, uncertainty was not taken into consideration, though [12] subsequently did so, thereby improving the control scheme.…”

Section: Introductionmentioning

confidence: 99%

Sliding-mode control of a wheeled vehicle using neural network estimator

Pamosoaji

Hong

Cát³

2013

2013 9th Asian Control Conference (ASCC)

Self Cite

View full text Add to dashboard Cite

A motion control problem of a rear-steered wheeled vehicle in consideration of the presence of uncertainties is addressed. Modeling error and additional uncertainties are taken into consideration. A sliding mode controller combining with a radial basis function neural network (RBFNN)-based estimator is proposed. The stability of the proposed control method is proven using Lyapunov stability analysis. Simulation results demonstrating the performance of the proposed control law are presented. It can be concluded that the driving velocity and steering angle performances of the proposed controllers are reasonably acceptable.

show abstract

Section: Introductionmentioning

confidence: 99%

Sliding-mode control of a wheeled vehicle using neural network estimator

Pamosoaji

Hong

Cát³

2013

2013 9th Asian Control Conference (ASCC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…The control problems of wheeled vehicles have been intensively studied in recent years and many control problems have been conducted [1][2][3][4][5][6][7][8][9]. One of the control problems of the autonomous wheeled vehicle is the ability to perform point to point motion (stabilization) where a desired goal configuration must be reached starting from a given initial configuration [10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Robust stabilization of a wheeled vehicle: Hybrid feedback control design and experimental validation

2010

Self Cite

View full text Add to dashboard Cite

In this paper, the problem of robust stabilization of a wheeled vehicle is addressed. The configuration (position and orientation) set of the vehicle is divided into two parts: global and local configuration sets. The novelty of this paper is the design of a hybrid feedback controller that assigns different objectives in the vehicle's global and local behaviors. Two Lyapunov functions for individual objectives are introduced that allow a hybrid feedback control law to pursue different objectives. In the global sense, it is important to reach the target point as quickly as possible, but once the vehicle reaches is near the goal, a precise maneuvering by rejecting disturbances including tire slippage and measurement noise becomes important. The asymptotical stability and robustness of the closed loop system are assured. The derived control law is validated by simulations and experiments using an autonomous forklift.

show abstract

“…An objective function, which includes the heading to the target, the robot's forward velocities and obstacle clearance, is considered, and the motion commands are computed by optimizing the objective function. Other notable results include an interactive multiple model algorithm [6], a three-layer control architecture (deliberative, sequencing, reflexive) [7], a collision-free motion coordination for multiple heterogeneous robots [8], a predictive navigation approach with nonholonomic and minimum turning radius constraints [9], a time-varying feedback control via the chained form [10], and others [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Sonar-based obstacle avoidance using region partition scheme

Bui

Hong

2010

J Mech Sci Technol

Self Cite

View full text Add to dashboard Cite

This paper addresses an obstacle avoidance problem for a mobile robot in indoor environment. The collision avoidance algorithm utilizes a region partition scheme to analyze the three forward sensory regions of the robot, then to calculate the minimum distances from the center of mass of the robot to the obstacles, respectively, and ultimately to find a navigable region. The supervisor inside the controller receives a series of obstacle avoidance behaviors and makes a decision that allows the robot to successfully navigate in a cluttered environment. In addition, experimental results to illustrate the proposed obstacle avoidance algorithm for the mobile robot in navigation are also presented.

show abstract

Mobile Robot Control Architecture for Reflexive Avoidance of Moving Obstacles

Cited by 20 publications

References 20 publications

Sliding-mode control of a wheeled vehicle using neural network estimator

Sliding-mode control of a wheeled vehicle using neural network estimator

Robust stabilization of a wheeled vehicle: Hybrid feedback control design and experimental validation

Sonar-based obstacle avoidance using region partition scheme

Contact Info

Product

Resources

About