Three-level Control for Obstacle Avoidance in WMR

Abstract

In this paper a three level control that enables a differential drive wheeled mobile robot with the capacity of obstacle avoidance is presented. The control is composed of three parts: An input-output linearization control for the high level, a differential flatness-based control for the medium level, and a sliding modes control for the low level. The numerical simulation results show that the obstacle avoidance is achieved.