V. Cadenat, P. Souères, and T. Hamel
Nonholonomic mobile robots, path-following control, obstacle avoidance, sensor-based control
This paper presents a reactive path-following controller that allows avoidance of convex obstacles during the transient phase. The proposed method relies on the definition of a time-varying sliding manifold. This additional degree of freedom is used to modify the shape of the vehicle’s trajectory, in the vicinity of obstacles, on the basis of exteroceptive data. The asymptotic stability of the closed- loop system is proven by means of Lyapunov analysis. The method is applied to control a cart-like vehicle equipped with ultrasonic sensors. Experimental results are presented to illustrate the interest of the approach.
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