Edgar Martinez, Rafael Murrieta-Cid, Hector Becerra
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引用次数: 0
Abstract
This work proposes an approach for wall following with a differential drive robot in a polygonal environment using laser range finder measurements.We propose an automaton which manages the robot observationsand selects the control set-points according to the state in theautomaton. We also propose a super-twisting sliding-mode control whichrapidly reaches the control set-points.The approach allows the robot to continuously move without the need ofstopping when obstacles get in the path of the robot. Thisapproach allows the robot to following the walls fast and robustly.The wall following capability can be used to explore an unknown environment orto find objects in the environment. DOI: 10.61416/ceai.v25i2.8352
期刊介绍：
The Journal is promoting theoretical and practical results in a large research field of Control Engineering and Technical Informatics. It has been published since 1999 under the Romanian Society of Control Engineering and Technical Informatics coordination, in its quality of IFAC Romanian National Member Organization and it appears quarterly.
Each issue has up to 12 papers from various areas such as control theory, computer engineering, and applied informatics. Basic topics included in our Journal since 1999 have been time-invariant control systems, including robustness, stability, time delay aspects; advanced control strategies, including adaptive, predictive, nonlinear, intelligent, multi-model techniques; intelligent control techniques such as fuzzy, neural, genetic algorithms, and expert systems; and discrete event and hybrid systems, networks and embedded systems. Application areas covered have been environmental engineering, power systems, biomedical engineering, industrial and mobile robotics, and manufacturing.
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