Abstract
This article deals with the design of an optimal tracking controller for a wheeled mobile robot. The tracking control can be performed to track either a given or a planned trajectory. In our study, an improved linear quadratic tracker is adopted to track a path planned using an improved reactive approach that combines the dynamic window with the fuzzy logic to make the robot movement toward the target faster, smoother, and safer whatever the complexity of the environment. The fuzzy logic is used to dynamically adjust the weights of the terms included in the dynamic window objective function according to different environmental scenarios. Simulation results of the path planning and the tracking control prove that the proposed approaches are significantly superior to the conventional ones.
Highlights
In recent years, a lot of researches have been published about the path planning and the tracking control due to their importance in the field of mobile robotics
There have been many path planning techniques proposed in the literature; we have chosen the reactive method known as the dynamic window approach (DWA)[1] because it takes the mobile robot dynamics into account
As in other reactive approaches,[18] during the process of path planning using the DWA, we have found that the robot can reach the goal position and safely in several environments with less number of obstacles; this is not the case if the environment is crowded
Summary
A lot of researches have been published about the path planning and the tracking control due to their importance in the field of mobile robotics. The control commands in the DWA are selected by maximizing an objective function, which is a weighted sum of three terms, and their main role is driving the robot fast and safe to the goal; this is not always guaranteed, due to the problem of choosing the appropriate weights. Extending the classic DWA to a global DWA-based navigation scheme using model predictive control without an objective function,[7] and recently using a two-stage fuzzy-DWA: the first one to determine the heading angle and the second one to compute the target wheel velocities of the robot.[8] None of the mentioned extensions has solved the problem of finding suitable weights for the objective function. The DWA is improved by using a fuzzy controller to dynamically adjust the weights of the objective function seeking for a fast and safe movement of the mobile robot. The fourth section discusses the simulation results, and the final section concludes the article
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