Obstacle Avoidance Control In Multi-dimensional Space Using Sliding Mode

Abstract

The approach presented is this paper is based on two ideas: (1) on the planning level an electrostatic potential field in the configuration space of the robot is used. The generalized force curves are attractive to the goal point avoiding obstacles without local minima; (2) on the control level the system follows these force curves using sliding mode control. The system is attracted to the swiching manifold using sliding mode and therewith the systkm is robust to disturbances and parameter variations. the system control variables so that sliding mode occurs in the vicinity of the force field curves and the system is attracted to them. This means that the system trajectories are identical to the force field curves. Sliding mode assures robust control performance despite unknown disturbances and parameter variations.