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S. Yannier, A. Sabanoviç, A. Onat, M. Bastan
0 20. 12. 2007.

Sliding Mode Based Behavior Control

In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.


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