Collision Avoidance with Artificial Potential Function for Two-Wheeled Mobile Robot Tracking Desired Trajectory

被引：0
|
作者：
Kozlowski, Krzysztof [1 ]
Kowalczyk, Wojciech [1 ]
机构：
[1] Poznan Univ Tech, Inst Automat & Robot, Fac Comp Sci, Piotorowo 3A, Poznan, Poland
来源：
2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER) | 2018年
关键词：
OBSTACLE AVOIDANCE; NAVIGATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper comparison of two trajectory tracking algorithms for mobile robots is presented. In the first method [2] linear feedback control law was designed using linearized model of the robot. In the second method [5] linear part was extended by adding nonlinear persistent excitation block responsible for the convergence of the position in the direction transverse to the main axis of the robot. In this paper authors concentrate on extension of these two control methods by collision avoidance behavior implemented using Artificial Potential Functions (APF). For both methods stability analysis is presented. Numerical simulations illustrate effectiveness of the algorithms.
引用
收藏
页码：1519 / 1526
页数：8
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