An Automaton and Super-Twisting Sliding-Mode Control for Wall Following

• Edgar Martinez

  Tecnológico Nacional de México / ITS de Guanajuato

• Rafael Murrieta-Cid

  Center for Mathematics Research (CIMAT)

• Hector Becerra

  Center for Mathematics Research (CIMAT)

This work proposes an approach for wall following with a differential drive robot in a polygonal environment using laser range finder measurements.We propose an automaton which manages the robot observationsand  selects the control set-points according to the state in theautomaton. We also propose a super-twisting sliding-mode control whichrapidly reaches the control set-points.The approach allows the robot to continuously move without the need ofstopping when obstacles get in the path of the robot. Thisapproach allows the robot to following the walls fast and robustly.The wall following capability can be used to explore an unknown environment orto find objects in the environment.

DOI: 10.61416/ceai.v25i2.8352

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