Dynamic collision avoidance for car-like mobile robot based on nonlinear trajectory tracking control

Abstract

Aimed at the trajectory tracking control problem and dynamic collision avoidance problem of the nonholonomic car-like mobile robots under the unknown circumstance, a dynamic collision avoidance method based on nonlinear trajectory tracking control is proposed. Firstly, we develop mathematical model of the car-like mobile robot and design a trajectory tracking controller based on backstepping method. Then, the dynamic collision avoidance controller is designed using the velocity resolution in the process of reference trajectory tracking. Finally, dynamic collision avoidance control during the trajectory tracking for car-like mobile robot is realized. The simulation results show that both the nonlinear algorithm of trajectory tracking control and the velocity resolution of dynamic collision avoidance is validity. It can provide the reference for dynamic collision avoidance design during the trajectory tracking of the car-like mobile robot.