Obstacle avoidance under strict path following

Autores
Rosendo, Juan Luis; Garelli, Fabricio; De Battista, Hernán; Valenciaga, Fernando
Año de publicación
2017
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
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
Materia
Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/155560
Acceder
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oai_identifier_str oai:sedici.unlp.edu.ar:10915/155560
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling Obstacle avoidance under strict path followingRosendo, Juan LuisGarelli, FabricioDe Battista, HernánValenciaga, FernandoIngenieríaRoboticsPath followingSliding modesSpeed adaptionIn 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 Ingeniería2017-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfhttp://sedici.unlp.edu.ar/handle/10915/155560enginfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/4.0/Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-10-15T11:32:12Zoai:sedici.unlp.edu.ar:10915/155560Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-10-15 11:32:13.021SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv Obstacle avoidance under strict path following
title Obstacle avoidance under strict path following
spellingShingle Obstacle avoidance under strict path following
Rosendo, Juan Luis
Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
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
dc.creator.none.fl_str_mv Rosendo, Juan Luis
Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
author Rosendo, Juan Luis
author_facet Rosendo, Juan Luis
Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
author_role author
author2 Garelli, Fabricio
De Battista, Hernán
Valenciaga, Fernando
author2_role author
author
author
dc.subject.none.fl_str_mv Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
topic Ingeniería
Robotics
Path following
Sliding modes
Speed adaption
dc.description.none.fl_txt_mv 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
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.
publishDate 2017
dc.date.none.fl_str_mv 2017-09
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/155560
url http://sedici.unlp.edu.ar/handle/10915/155560
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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score 13.22299

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