Robot Guidance and Control Using Global Sliding Modes and Acceleration Velocity Obstacles

摘要

This paper is concerned with the robust guidance and control of fully actuated mobile robots subject to velocity and control constraints in dynamic environments involving external disturbances. The overall method consists of an outer-loop guidance based on the acceleration-velocity-obstacles strategy and a stabilizing control loop based on a global sliding mode policy. The guidance strategy generates velocity commands aiming to reach a target position while avoiding collision with moving obstacles and respecting velocity and acceleration bounds. On the other hand, the global sliding mode ensures that the velocity commands are, in theory, exactly tracked all the time. The proposed method is numerically evaluated using two-dimensional robots and shows to be effective.