Abstract
This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller. [Keywords — Path tracking ; back stepping ; obstacles avoidance ; potential functions ; quadruped robot ] .
Highlights
INTRODUCTIONResearch on walking robots has been focused mainly on gait generation
During the last decade, research on walking robots has been focused mainly on gait generation
This paper proposed to design a tracking controller for obstacle avoidance of quadruped robot from start point to goal point using a ceiling-mounted camera system method
Summary
Research on walking robots has been focused mainly on gait generation. In [3], Ma et al proposed a gait transition method for a quadruped robot to achieve omni-directional static walking. In [4], Santos et al introduced path tracking methods using discontinuous gaits They used an open loop control algorithm. The proposed potential functions method is applied and a trajectory from a start point to a goal point is generated. A backstepping controller is designed for the robot to track the planned trajectory generated by the potential functions method. The gradient ÑU (p) of the potential function can be viewed as force as follows: ÑU = [¶U / ¶x(p), ¶U / ¶y(p)]T (1). The repulsive potential function in terms of individual obstacles can be commonly used the following form. The total repulsive function and gradient can be calculated as follows:
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