Obstacle avoidance under strict path following

In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement an speed adaption loop which based on a discontinuous signal product of an sliding surface in the state space, modifies the speed o...

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Autores principales: Rosendo, Juan Luis, Garelli, Fabricio, De Battista, Hernán, Valenciaga, Fernando
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2017
Materias:
Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/155560
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SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-155560
record_format dspace
spelling I19-R120-10915-1555602023-07-13T20:08:44Z http://sedici.unlp.edu.ar/handle/10915/155560 Obstacle avoidance under strict path following Rosendo, Juan Luis Garelli, Fabricio De Battista, Hernán Valenciaga, Fernando 2017-09 2017 2023-07-13T18:32:14Z en Ingeniería Robotics Path following Sliding modes Speed adaption In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement an speed adaption loop which based on a discontinuous signal product of an sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the problem of obstacle avoidance when it is forbidden for the robot to leave the given path. Furthermore, we are able to impose a robust desired dynamics in the approach between the robot and the obstacle. Facultad de Ingeniería Objeto de conferencia Objeto de conferencia http://creativecommons.org/licenses/by-nc-sa/4.0/ Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) application/pdf
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
spellingShingle Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
Rosendo, Juan Luis
Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
Obstacle avoidance under strict path following
topic_facet Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
description In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement an speed adaption loop which based on a discontinuous signal product of an sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the problem of obstacle avoidance when it is forbidden for the robot to leave the given path. Furthermore, we are able to impose a robust desired dynamics in the approach between the robot and the obstacle.
format Objeto de conferencia
Objeto de conferencia
author Rosendo, Juan Luis
Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
author_facet Rosendo, Juan Luis
Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
author_sort Rosendo, Juan Luis
title Obstacle avoidance under strict path following
title_short Obstacle avoidance under strict path following
title_full Obstacle avoidance under strict path following
title_fullStr Obstacle avoidance under strict path following
title_full_unstemmed Obstacle avoidance under strict path following
title_sort obstacle avoidance under strict path following
publishDate 2017
url http://sedici.unlp.edu.ar/handle/10915/155560
work_keys_str_mv AT rosendojuanluis obstacleavoidanceunderstrictpathfollowing
AT garellifabricio obstacleavoidanceunderstrictpathfollowing
AT debattistahernan obstacleavoidanceunderstrictpathfollowing
AT valenciagafernando obstacleavoidanceunderstrictpathfollowing
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