Three-level Control for Obstacle Avoidance in WMR
Erik Reyes-Reyes, Ramón Silva‐Ortigoza, Magdalena Marciano-Melchor, Eduardo Hernández-Marquez, José Rafael García-Sánchez, Rocío García-Cortés · 2022
In this paper a three level control that enables a differential drive wheeled mobile robot with the capacity of obstacle avoidance is presented. The control is composed of three parts: An input-output linearization control for the high level, a differential flatness-based control for the medium level, and a sliding modes control for the low level. The numerical simulation results show that the obstacle avoidance is achieved.