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• W2109014985 abstract "This paper introduces a sliding mode control strategy for tracking the gradient of an artificial potential field. The control methodology is applicable to fully actuated holonomic robotic systems with n-degrees of freedom. The controller yields exact tracking of the gradient lines and is invariant with respect to parametric uncertainty and disturbances in system dynamics. A detailed case study for mobile robots introduces the equilibrium point placement method for designing harmonic planar potential fields for circular obstacle security zones. Diffeomorph mappings can be utilized for more complex obstacle security zones. The gradient of the harmonic potential field is shown to always lead away from the obstacle security zone and to continuously approach the goal point.< <ETX xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>></ETX>" @default.
• W2109014985 created "2016-06-24" @default.
• W2109014985 creator A5042928447 @default.
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• W2109014985 date "1995-04-01" @default.
• W2109014985 modified "2023-09-27" @default.
• W2109014985 title "Sliding mode control for gradient tracking and robot navigation using artificial potential fields" @default.
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• W2109014985 doi "https://doi.org/10.1109/70.370505" @default.
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