Design of Unified Controller for Obstacle Avoidance and Tracking of Wheeled Mobile Robots

被引：0

作者：

Cui, Mingyue ^{[1
]}

Zhao, Jinji ^{[2
]}

Liu, Hongzhao ^{[1
]}

机构：

[1] Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Henan, Peoples R China

[2] Nanyang Normal Univ, Sch Sport, Nanyang 473061, Peoples R China

来源：

PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年

关键词：

Trajectory tracking; obstacle avoidance; wheeled mobile robot; unified control; Lyapunov method; SLIDING MODE CONTROL; NEURAL-NETWORKS; SYSTEMS;

D O I：

10.1109/ccdc.2019.8832651

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The novel unified control approach is proposed to simultaneously solve tracking and obstacle avoidance problem of the wheeled mobile robot (WMR). Applying the Lyapunov's direct method, a stable unified controller is designed to simultaneously handle tracking and obstacle avoidance for this WMR system based on the potential function. By the Lyapunov stability theory, it is proved that tracking errors of the closed-loop system are asymptotical convergence, the tracking errors converge to the zero outside the obstacle detection region and the obstacle avoidance is guaranteed inside the obstacle detection region. The effectiveness and robustness of the proposed control method arc validated from the simulation results.

引用

页码：4190 / 4195

页数：6

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