Abstract
This paper presents a control method for a WIP vehicle in multi-obstacle environment based on improved artificial potential field. Firstly, an improved artificial potential field (IAPF) is developed, where a safe distance is introduced to the existing repulsive potential field to solve the security issue, while the local minima can also be eliminated in the meantime. Next, an obstacle avoidance controller is designed based on the IAPF, where the nonholonomic constraint and underactuated characteristic of the WIP vehicle are fully considered, and the stability condition of the system is analyzed by means of the related control theory. Moreover, to further improve the control performance, a key parameter that play an important role in the controller is adjusted by taking advantage of fuzzy logic, and detailed analyses are given to demonstrate its necessity and effectiveness. Finally, considering a motion environment that contains dense obstacles, narrow corridor and an obstacle near the target, numerical simulations are conducted to validate the proposed method, whose results indicate that the method has a good performance to control the WIP vehicle in multi-obstacle environment.
Highlights
Wheeled inverted pendulum (WIP) vehicles, as a typical mobile robots, have become widely available and continuously attracted much attentions in recent decades, owing to their compact construction, high maneuverability, and low energy consumption characteristics [3, 7, 15, 33, 38]
The WIP vehicle subjects to the nonholonomic constraint between the wheels and ground due to the pure rolling motion [6, 11, 21, 34], and it is a typical underactuated system that the number of control inputs is less than the degrees of freedom [8, 14, 29, 37], both of which make the control of the vehicle more difficult
It is important to note that these methods are mainly focused on the control of WIP vehicles in barrier-free environment without consideration given to the vehicle control in obstacle environment
Summary
Wheeled inverted pendulum (WIP) vehicles, as a typical mobile robots, have become widely available and continuously attracted much attentions in recent decades, owing to their compact construction, high maneuverability, and low energy consumption characteristics [3, 7, 15, 33, 38]. Information Technology and Convtroelhicle can only move along the 2ta02n0g/e3/n4t9ial direction of the present motion trajectory at any moment, and cannot generate acceleration along arbitrary direction, which is one reason that the common APF artificial potential field (IAPF) for the WIP vehicle iaspupnraobalcehtoisbeuanpapbllieedtoinbteheapcponliterdolionf tWheIPcovnehtrioclleosf in multi-obstacle environment. The WIP vehicle in reality is not a mass point but has a specific size, and the control delay is always existed, which may cause a security issue when applying the potential field (6) for obstacles avoidance control Aiming at this problem, a safe distance is introduced to the repulsive potential field to further improve its application performance in this study, and the IAPF is as follows: 3. Tkrh>aseehaxnr2tiediswsftfohyklrore=eckn1a,a/0lakε0rsm> >lhit o2n2hni,awmtgaianats.hdsaFtwkkuisaar=fe/ty2hkcerhak>rnamoh/dko3or>srwkheer2,=hk,1wea0/ane0nk,dcr1>hh ≤heotn o1hεcws e
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