Algorithms for stable control of mobile robots with obstacle avoidance

In this paper mobile robot control laws, including obstacle avoidance based on distance sensorial information are proposed. The mobile robot is assume d to evolve in a semi-structured environment. The control systems are based on the use of the extended impedance concept, in which the relationship be tween fictitious forces and motion error is regulated. The Fictitious force s are generated from the information provided by sensors on the distance Fr om the obstacle to the robot. The control algorithms also prevent from the potential problem of control command saturation, The paper includes the sta bility analysis of the developed control systems, using positive definite p otential Functions.