A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots

Tian Tian; Qiuyue Jiang; Zhengying Cai

doi:doi:10.11648/j.iotcc.20160405.11

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A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots

Tian Tian, Qiuyue Jiang, Zhengying Cai

Published in Internet of Things and Cloud Computing (Volume 4, Issue 5)

Received: 29 November 2016 Accepted: 13 December 2016 Published: 14 January 2017

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Abstract

It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are included in, namely a sector-shaped layer and a constant layer. Second, a multi-input algorithm based on sliding-mode for self-learning of mobile robots is discussed. Some control rules are built for the self-learning and obstacle avoidance of mobile robots, and the solving steps are also presented. Last, an experiment is designed to verify the proposed model and calculate the sliding- mode control for mobile robots. Some interesting conclusions and future work are indicated at the end of the paper.

Published in	Internet of Things and Cloud Computing (Volume 4, Issue 5)
DOI	10.11648/j.iotcc.20160405.11
Page(s)	45-54
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Self-Learning, Sliding-Mode Control, Obstacle Avoidance, Mobile Robots

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APA Style

Tian Tian, Qiuyue Jiang, Zhengying Cai. (2017). A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet of Things and Cloud Computing, 4(5), 45-54. https://doi.org/10.11648/j.iotcc.20160405.11

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ACS Style

Tian Tian; Qiuyue Jiang; Zhengying Cai. A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet Things Cloud Comput. 2017, 4(5), 45-54. doi: 10.11648/j.iotcc.20160405.11

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AMA Style

Tian Tian, Qiuyue Jiang, Zhengying Cai. A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet Things Cloud Comput. 2017;4(5):45-54. doi: 10.11648/j.iotcc.20160405.11

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@article{10.11648/j.iotcc.20160405.11,
  author = {Tian Tian and Qiuyue Jiang and Zhengying Cai},
  title = {A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots},
  journal = {Internet of Things and Cloud Computing},
  volume = {4},
  number = {5},
  pages = {45-54},
  doi = {10.11648/j.iotcc.20160405.11},
  url = {https://doi.org/10.11648/j.iotcc.20160405.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.iotcc.20160405.11},
  abstract = {It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are included in, namely a sector-shaped layer and a constant layer. Second, a multi-input algorithm based on sliding-mode for self-learning of mobile robots is discussed. Some control rules are built for the self-learning and obstacle avoidance of mobile robots, and the solving steps are also presented. Last, an experiment is designed to verify the proposed model and calculate the sliding- mode control for mobile robots. Some interesting conclusions and future work are indicated at the end of the paper.},
 year = {2017}
}

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TY  - JOUR
T1  - A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots
AU  - Tian Tian
AU  - Qiuyue Jiang
AU  - Zhengying Cai
Y1  - 2017/01/14
PY  - 2017
N1  - https://doi.org/10.11648/j.iotcc.20160405.11
DO  - 10.11648/j.iotcc.20160405.11
T2  - Internet of Things and Cloud Computing
JF  - Internet of Things and Cloud Computing
JO  - Internet of Things and Cloud Computing
SP  - 45
EP  - 54
PB  - Science Publishing Group
SN  - 2376-7731
UR  - https://doi.org/10.11648/j.iotcc.20160405.11
AB  - It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are included in, namely a sector-shaped layer and a constant layer. Second, a multi-input algorithm based on sliding-mode for self-learning of mobile robots is discussed. Some control rules are built for the self-learning and obstacle avoidance of mobile robots, and the solving steps are also presented. Last, an experiment is designed to verify the proposed model and calculate the sliding- mode control for mobile robots. Some interesting conclusions and future work are indicated at the end of the paper.
VL  - 4
IS  - 5
ER  -

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Author Information

Tian Tian

College of Internet of Things Engineering, China Three Gorges University, Yichang, China
Qiuyue Jiang

College of Mechanical-Electronic Engineering, China Three Gorges University, Yichang, China
Zhengying Cai

College of Internet of Things Engineering, China Three Gorges University, Yichang, China

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APA Style

Tian Tian, Qiuyue Jiang, Zhengying Cai. (2017). A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet of Things and Cloud Computing, 4(5), 45-54. https://doi.org/10.11648/j.iotcc.20160405.11

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ACS Style

Tian Tian; Qiuyue Jiang; Zhengying Cai. A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet Things Cloud Comput. 2017, 4(5), 45-54. doi: 10.11648/j.iotcc.20160405.11

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AMA Style

Tian Tian, Qiuyue Jiang, Zhengying Cai. A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots. Internet Things Cloud Comput. 2017;4(5):45-54. doi: 10.11648/j.iotcc.20160405.11

Copy | Download

@article{10.11648/j.iotcc.20160405.11,
  author = {Tian Tian and Qiuyue Jiang and Zhengying Cai},
  title = {A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots},
  journal = {Internet of Things and Cloud Computing},
  volume = {4},
  number = {5},
  pages = {45-54},
  doi = {10.11648/j.iotcc.20160405.11},
  url = {https://doi.org/10.11648/j.iotcc.20160405.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.iotcc.20160405.11},
  abstract = {It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are included in, namely a sector-shaped layer and a constant layer. Second, a multi-input algorithm based on sliding-mode for self-learning of mobile robots is discussed. Some control rules are built for the self-learning and obstacle avoidance of mobile robots, and the solving steps are also presented. Last, an experiment is designed to verify the proposed model and calculate the sliding- mode control for mobile robots. Some interesting conclusions and future work are indicated at the end of the paper.},
 year = {2017}
}

Copy | Download

TY  - JOUR
T1  - A Sliding-Mode Control Algorithm of Self-Learning and Obstacle Avoidance for Mobile Robots
AU  - Tian Tian
AU  - Qiuyue Jiang
AU  - Zhengying Cai
Y1  - 2017/01/14
PY  - 2017
N1  - https://doi.org/10.11648/j.iotcc.20160405.11
DO  - 10.11648/j.iotcc.20160405.11
T2  - Internet of Things and Cloud Computing
JF  - Internet of Things and Cloud Computing
JO  - Internet of Things and Cloud Computing
SP  - 45
EP  - 54
PB  - Science Publishing Group
SN  - 2376-7731
UR  - https://doi.org/10.11648/j.iotcc.20160405.11
AB  - It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are included in, namely a sector-shaped layer and a constant layer. Second, a multi-input algorithm based on sliding-mode for self-learning of mobile robots is discussed. Some control rules are built for the self-learning and obstacle avoidance of mobile robots, and the solving steps are also presented. Last, an experiment is designed to verify the proposed model and calculate the sliding- mode control for mobile robots. Some interesting conclusions and future work are indicated at the end of the paper.
VL  - 4
IS  - 5
ER  -

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