Switching Control of MRs for Autonomous Navigation in Unknown Environments

• Switching controller for positioning a unicycle-like WMR at a desired final posture

• Obstacle avoidance in unknown environments using a contour- following strategy

• Multiple Lyapunov Function based approach to prove stability

• Experimental results in real office setting

Juan Marcos Toibero, Ricardo Carelli, and Benjamin Kuchen Instituto de Automática (INAUT), San Juan National University, ARG