Abstract
The obstacle avoidance control of mobile robots has been widely investigated for numerous practical applications. In this study, a control scheme is presented to deal with the problem of trajectory tracking while considering obstacle avoidance. The control scheme is simplified into two controllers. First, an existing trajectory tracking controller is used to track. Next, to avoid the possible obstacles in the environment, an obstacle avoidance controller, which is used to determine the fastest collision avoidance direction to follow the boundary of the obstacle at a constant distance, is proposed based on vector relationships between the robot and an obstacle. Two controllers combined via a switch strategy are switched to perform the task of trajectory tracking or obstacle avoidance. The stability of each controller in the control scheme is guaranteed by a Lyapunov function. Finally, several simulations are conducted to evaluate the proposed control scheme. The simulation results indicate that the proposed scheme can be applied to the mobile robot to ensure its safe movement in unknown obstacle environments.
Highlights
IntroductionThe wheeled mobile robot (WMR) has received much attention due to its many practical applications, which is widely used in various aspects, such as search and rescue [1], multi-robotic formation [2,3], industrial applications [4,5], military operations [6,7], and so on
In recent years, the wheeled mobile robot (WMR) has received much attention due to its many practical applications, which is widely used in various aspects, such as search and rescue [1], multi-robotic formation [2,3], industrial applications [4,5], military operations [6,7], and so on.These applications require the mobile robot to move autonomously and carry out a variety of automated tasks which include trajectory tracking, obstacle avoidance, formation control, etc
This paper presents a control scheme for a mobile robot to navigate it from a start position to a desired destination
Summary
The wheeled mobile robot (WMR) has received much attention due to its many practical applications, which is widely used in various aspects, such as search and rescue [1], multi-robotic formation [2,3], industrial applications [4,5], military operations [6,7], and so on These applications require the mobile robot to move autonomously and carry out a variety of automated tasks which include trajectory tracking, obstacle avoidance, formation control, etc. For the control of mobile robots, the major challenge is to develop effective controllers to deal with various tasks Among those tasks, the problems of obstacle avoidance and trajectory tracking are especially important for autonomous movement. In [11,12], The genetic algorithms (GA) inspired by evolutionary theory were devised to generate optimal paths from one start point to the target location within given resented to find a feasible path for the multi-objective path planning problem
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
