TY - GEN
T1 - Sliding mode based obstacle avoidance and target tracking for mobile robots
AU - Yannier, S.
AU - Sabanovic, A.
AU - Onat, A.
AU - Bastan, M.
PY - 2005
Y1 - 2005
N2 - In this work, we suggested a solution for the basic tasks of a mobile robot capable of being a building block of an intelligent agent in group. This solution includes obstacle avoidance and goal tracking implemented as two different controllers. A geometry based behavior arbitration is proposed for fusing the output of those two controllers. Proposed structure is tested both on simulations and on real robot with different scenarios. Results have confirmed the high performance of the method.
AB - In this work, we suggested a solution for the basic tasks of a mobile robot capable of being a building block of an intelligent agent in group. This solution includes obstacle avoidance and goal tracking implemented as two different controllers. A geometry based behavior arbitration is proposed for fusing the output of those two controllers. Proposed structure is tested both on simulations and on real robot with different scenarios. Results have confirmed the high performance of the method.
UR - http://www.scopus.com/inward/record.url?scp=33748356286&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2005.1529152
DO - 10.1109/ISIE.2005.1529152
M3 - Conference contribution
AN - SCOPUS:33748356286
SN - 0780387384
SN - 9780780387386
T3 - IEEE International Symposium on Industrial Electronics
SP - 1489
EP - 1493
BT - Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
T2 - IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Y2 - 20 June 2005 through 23 June 2005
ER -