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The path planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines non-linear control theory, B-spline basis function and non-linear programming. An integral sliding mode controller is used for trajectory tracking. The closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.<\/jats:p>","DOI":"10.1017\/s0263574708004700","type":"journal-article","created":{"date-parts":[[2008,6,4]],"date-time":"2008-06-04T05:33:06Z","timestamp":1212557586000},"page":"281-290","source":"Crossref","is-referenced-by-count":41,"title":["Performance-based reactive navigation for non-holonomic mobile robots"],"prefix":"10.1017","volume":"27","author":[{"given":"Michael","family":"Defoort","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jorge","family":"Palos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Annemarie","family":"Kokosy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thierry","family":"Floquet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wilfrid","family":"Perruquetti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,1]]},"reference":[{"key":"S0263574708004700_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/70.833194"},{"key":"S0263574708004700_ref21","volume-title":"Dissertation","author":"Milam","year":"2003"},{"key":"S0263574708004700_ref12","doi-asserted-by":"crossref","unstructured":"12. 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Defoort M. , Palos J. , Floquet T. , Kokosy A. and Perruquetti W. , \u201cPractical Stabilization and Tracking of a Wheeled Mobile Robot with Integral Sliding Mode Controller,\u201d IEEE International Conference on Decision and Control, New Orleans, LA (2007) pp. 1999\u20132004.","DOI":"10.1109\/CDC.2007.4434134"},{"key":"S0263574708004700_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/9.173153"},{"key":"S0263574708004700_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00012-2"},{"key":"S0263574708004700_ref20","unstructured":"20. 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