Abstract

SECCHI, H.; CARELLI, R.  and  MUT, V.. An experience on stable control of mobile robots. Lat. Am. appl. res. [online]. 2003, vol.33, n.4, pp.379-385. ISSN 0327-0793.

This paper is based on a previous work (Carelli et al., 1999). In this paper, mobile robot control laws, including obstacle avoidance based on distance sensorial information are developed. The mobile robot is assumed to evolve in a semi-structured environment. The control systems are 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 with the information provided by sensors on the distance from the obstacle to the robot. The control algorithms also avoid the potential problem of control command saturation. The paper includes the stability analysis of the developed control systems, using positive definite potential functions.

Keywords : Mobile Robots; Robot Control; Obstacle Avoidance; Stability Analysis.

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