Abstract
In this article, we address the motion planning and control problem of a mobile robot, herein considered as a navigating in a workspace with obstacle. We use Lyapunov’s second method to control the motion of the mobile robot. The minimum distance technique, incorporated for the avoidance of the cylindrical obstacle in a 3D space, used for the first time. Here, the minimum distance between the center of the point mass, representing a mobile robot, and the surface of the cylinder is calculated; thus, only the avoidance of a point on the surface of the cylinder is considered. We propose a set of artificial potential field functions that can be used for the avoidance of the cylindrical obstacle, and for the attraction to the assigned target. The effectiveness of the suggested robust, continuous, nonlinear control inputs is verified numerically via a computer simulation.
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