Hierarchical controller for obstacle avoidance task in WMRs considering actuators and power electronics subsystems: When artificial potential fields approach is used

Hierarchical controller for obstacle avoidance task in WMRs considering actuators and power electronics subsystems: When artificial potential fields approach is used

Through the development of a three-level hierarchical controller, this study proposes a solution to the obstacle avoidance task in wheeled mobile robots (WMRs). The proposed controller takes into consideration the dynamics of the three subsystems that typically compose a WMR (mechanical structure, a...

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Bibliographic Details
Main Authors: Ramón Silva-Ortigoza, Erik Reyes-Reyes, Ángel Adrián Orta-Quintana, Magdalena Marciano-Melchor, Eduardo Hernández-Márquez, Jesús Huerta-Chua, José Rafael García-Sánchez, Gilberto Silva-Ortigoza
Format: Article
Language:English
Published: Elsevier 2024-03-01
Series:e-Prime: Advances in Electrical Engineering, Electronics and Energy
Subjects:
Obstacle avoidance
wheeled mobile robot
Artificial potential fields
Hierarchical controller
Differential flatness control
Sliding mode control
Online Access:http://www.sciencedirect.com/science/article/pii/S2772671124000366

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http://www.sciencedirect.com/science/article/pii/S2772671124000366

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