dc.creatorRosendo, Juan Luis
dc.creatorGarelli, Fabricio
dc.creatorDe Battista, Hernán
dc.creatorValenciaga, Fernando
dc.date2017-09
dc.date2017
dc.date2023-07-13T18:32:14Z
dc.date.accessioned2023-07-15T11:09:51Z
dc.date.available2023-07-15T11:09:51Z
dc.identifierhttp://sedici.unlp.edu.ar/handle/10915/155560
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7494570
dc.descriptionIn 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.
dc.descriptionFacultad de Ingeniería
dc.formatapplication/pdf
dc.languageen
dc.rightshttp://creativecommons.org/licenses/by-nc-sa/4.0/
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.subjectIngeniería
dc.subjectRobotics
dc.subjectPath following
dc.subjectSliding modes
dc.subjectSpeed adaption
dc.titleObstacle avoidance under strict path following
dc.typeObjeto de conferencia
dc.typeObjeto de conferencia


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