Sahbi Boubaker
Papers
4
Total Citations
163
H-Index
3
About
Sahbi Boubaker is a leading researcher in mobile robotics, specializing in path planning, robust control, and trajectory tracking for nonholonomic systems. His most impactful contribution is the development of an improved Dijkstra algorithm for mobile robot path planning and obstacle avoidance, published in 2022, which has garnered 128 citations and provides a practical, collision-free solution for both educational and real-world applications. Boubaker has also advanced the field of fixed-time stabilization, introducing a fractional-order global sliding mode control that ensures system states converge to zero within a finite time, even under external disturbances—a work cited 27 times. More recently, he has explored generalized supertwisting algorithms based on terminal sliding manifolds to handle perturbed unicycle robots, and proposed neural adaptive correction techniques for wheeled mobile robot trajectory tracking, addressing persistent challenges in logistics and transportation. His research consistently bridges theoretical rigor with practical implementation, making significant strides in enhancing the autonomy and reliability of mobile robots in dynamic environments.
Research Focus
Key Achievements
Top Papers
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- 4Trajectory Tracking of WMR with Neural Adaptive Correction3 citations · 2025