@article {16,
	title = {A path conditioning method with trap avoidance},
	journal = {Robotics and Autonomous Systems},
	volume = {60},
	year = {2012},
	pages = {862 - 873},
	abstract = {<p>This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.</p>
},
	keywords = {Path planning},
	issn = {0921-8890},
	doi = {10.1016/j.robot.2012.01.009},
	url = {http://www.sciencedirect.com/science/article/pii/S0921889012000218},
	author = {Gracia, Luis and Sala, Antonio and Garelli, Fabricio}
}
@conference {101,
	title = {Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV},
	booktitle = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on},
	year = {2008},
	month = {Sept},
	abstract = {<p>This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.</p>
},
	keywords = {autonomous pipline inspections, Equations, industrial robots, inspection, line of sight algorithm, Lyapunov based path planning, Lyapunov methods, Mathematical model, mobile robots, Navigation, path following, Path planning, pipe searching, pipe surveying, Pipelines, pipes, remotely operated vehicles, smooth path tracking, torpedo shaped AUV, Trajectory, Vehicles},
	doi = {10.1109/IROS.2008.4650966},
	url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4650966},
	author = {Calvo, Oscar and Rozenfeld, Alejandro and Souza, A. and Valenciaga, Fernando and Puleston, Pablo F. and Acosta, Gerardo}
}
