Switching control approach for stable navigation of mobile robots in unknown environments

Autores
Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Fiorini, Paolo
Año de publicación
2011
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacleavoider controller is analyzed showing stability under reasonably conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Fiorini, Paolo. Universita di Verona; Italia
Materia
Switching control
Mobile Robots
Stability analysis
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:11336/236903
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Switching control approach for stable navigation of mobile robots in unknown environmentsToibero, Juan MarcosRoberti, FlavioCarelli Albarracin, Ricardo OscarFiorini, PaoloSwitching controlMobile RobotsStability analysishttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacleavoider controller is analyzed showing stability under reasonably conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Fiorini, Paolo. Universita di Verona; ItaliaPergamon-Elsevier Science Ltd2011-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/236903Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Fiorini, Paolo; Switching control approach for stable navigation of mobile robots in unknown environments; Pergamon-Elsevier Science Ltd; Robotics And Computer-integrated Manufacturing; 27; 3; 6-2011; 558-5680736-5845CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S073658451000147Xinfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.rcim.2010.10.002info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:23:48Zoai:ri.conicet.gov.ar:11336/236903instacron: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 10:23:48.471CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Switching control approach for stable navigation of mobile robots in unknown environments
title Switching control approach for stable navigation of mobile robots in unknown environments
spellingShingle Switching control approach for stable navigation of mobile robots in unknown environments
Toibero, Juan Marcos
Switching control
Mobile Robots
Stability analysis
title_short Switching control approach for stable navigation of mobile robots in unknown environments
title_full Switching control approach for stable navigation of mobile robots in unknown environments
title_fullStr Switching control approach for stable navigation of mobile robots in unknown environments
title_full_unstemmed Switching control approach for stable navigation of mobile robots in unknown environments
title_sort Switching control approach for stable navigation of mobile robots in unknown environments
dc.creator.none.fl_str_mv Toibero, Juan Marcos
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
Fiorini, Paolo
author Toibero, Juan Marcos
author_facet Toibero, Juan Marcos
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
Fiorini, Paolo
author_role author
author2 Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
Fiorini, Paolo
author2_role author
author
author
dc.subject.none.fl_str_mv Switching control
Mobile Robots
Stability analysis
topic Switching control
Mobile Robots
Stability analysis
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 paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacleavoider controller is analyzed showing stability under reasonably conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Fiorini, Paolo. Universita di Verona; Italia
description This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacleavoider controller is analyzed showing stability under reasonably conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.
publishDate 2011
dc.date.none.fl_str_mv 2011-06
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/11336/236903
Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Fiorini, Paolo; Switching control approach for stable navigation of mobile robots in unknown environments; Pergamon-Elsevier Science Ltd; Robotics And Computer-integrated Manufacturing; 27; 3; 6-2011; 558-568
0736-5845
CONICET Digital
CONICET
url http://hdl.handle.net/11336/236903
identifier_str_mv Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Fiorini, Paolo; Switching control approach for stable navigation of mobile robots in unknown environments; Pergamon-Elsevier Science Ltd; Robotics And Computer-integrated Manufacturing; 27; 3; 6-2011; 558-568
0736-5845
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S073658451000147X
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.rcim.2010.10.002
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
application/pdf
dc.publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
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
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score 13.070432

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