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A previous version of this work has been presented during the 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa, 24–29 August 2014. The present manuscript, with respect to its conference version, contains a more detailed theoretical part which includes a full proof and a complete new set of experimental data on a newer and renowned platform; in addition a comparisons with a pre-existing strategy has been added.
The problem of avoiding obstacles while navigating within an environment for a Unicycle-like wheeled mobile robot is of prime importance in robotics; the aim of this work is to solve such a problem proposing a perturbed version of the standard kinematic model able to compensate for the neglected dynamics of the robot. The disturbances are considered additive on the inputs and the solution is based on the supervisory control framework, finite-time stability and a robust multi-output regulation. The effectiveness of the solution is proved, supported by experiments and finally compared with the dynamic window approach to show how the proposed method can perform better than standard methods.
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- Finite-time obstacle avoidance for unicycle-like robot subject to additive input disturbances
- Springer US