Sliding Mode Based Behavior Control
| Main Authors: | Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan |
|---|---|
| Format: | Article eJournal |
| Bahasa: | eng |
| Terbitan: |
, 2007
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/1076600 |
Daftar Isi:
- In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.