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

Authors:
Juan Marcos Toibero;Flavio Roberti;Ricardo Carelli;Paolo Fiorini
Affiliations:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martin Oeste 1109, 5400 San Juan, Argentina;Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martin Oeste 1109, 5400 San Juan, Argentina and Consejo Nacional de Investigaciones Científicas y Técnicas ...;Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martin Oeste 1109, 5400 San Juan, Argentina and Consejo Nacional de Investigaciones Científicas y Técnicas ...;Dipartimento di Informatica, Universití degli Studi di Verona Strade Le Grazie 15, 37134 Verona, Italy
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2011

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Abstract

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/obstacle-avoider controller is analyzed showing stability under reasonable conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.