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2015 19th International Conference on System Theory, Control and Computing (ICSTCC)
In this paper an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR) is presented. The algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar sensors. Only one discrete-time sliding-mode controller is required to track the resulting trajectory and it does not require separate controllers for following the intended trajectory anddoi:10.1109/icstcc.2015.7321277 fatcat:yh5wmmzchbdz7nxpteqio6nptq