Robot path obstacle avoidance control via sliding mode approach

Abstract

The approach described consists in constructing potential fields in configuration space like an electrostatic one with changes distributed in such a way that the generalized force curves are attracted to the goal point and avoid obstacles. The system follows such force curves by using sliding mode. The strategy of robot path obstacle avoidance control with sliding mode is presented and discussed in the two-dimensional space.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>