Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems

Autores
Gracia, Luis; Garelli, Fabricio; Sala, Antonio
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot’s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Materia
Collision Avoidance
Mobile Robots
Motion Planning
Sliding Mode
Reference Conditioning
Sliding-Mode (Sm) Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/21929
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/21929
network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic SystemsGracia, LuisGarelli, FabricioSala, AntonioCollision AvoidanceMobile RobotsMotion PlanningSliding ModeReference ConditioningSliding-Mode (Sm) Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot’s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.Fil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Sala, Antonio. Universidad Politécnica de Valencia; EspañaInstitute of Electrical and Electronics Engineers2013-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/21929Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 21; 6; 1-2013; 2391-23991063-65361558-0865CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1109/TCST.2012.2231866info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6414600/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:17:07Zoai:ri.conicet.gov.ar:11336/21929instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:17:08.239CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
title Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
spellingShingle Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
Gracia, Luis
Collision Avoidance
Mobile Robots
Motion Planning
Sliding Mode
Reference Conditioning
Sliding-Mode (Sm) Control
title_short Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
title_full Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
title_fullStr Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
title_full_unstemmed Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
title_sort Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
dc.creator.none.fl_str_mv Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author Gracia, Luis
author_facet Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author_role author
author2 Garelli, Fabricio
Sala, Antonio
author2_role author
author
dc.subject.none.fl_str_mv Collision Avoidance
Mobile Robots
Motion Planning
Sliding Mode
Reference Conditioning
Sliding-Mode (Sm) Control
topic Collision Avoidance
Mobile Robots
Motion Planning
Sliding Mode
Reference Conditioning
Sliding-Mode (Sm) Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot’s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
description This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot’s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.
publishDate 2013
dc.date.none.fl_str_mv 2013-01
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/21929
Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 21; 6; 1-2013; 2391-2399
1063-6536
1558-0865
CONICET Digital
CONICET
url http://hdl.handle.net/11336/21929
identifier_str_mv Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 21; 6; 1-2013; 2391-2399
1063-6536
1558-0865
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/TCST.2012.2231866
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6414600/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614121896542208
score 13.070432

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