A Specified Time Obstacle Avoidance Control Strategy for Wheeled Mobile Robots

被引：0
|
作者：
Zhai, Jinpeng [1 ]
Geng, Zhiyong [1 ]
Yang, Jianying [1 ]
机构：
[1] Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年
关键词：
Non-holonomic Constraint; Specified Time; Obstacle Avoidance; COLLISION-AVOIDANCE; NONHOLONOMIC VEHICLES; TRAJECTORY TRACKING; SYSTEMS; PATH;
D O I：
10.1109/CCDC52312.2021.9602322
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, we study the specified time obstacle avoidance problem of a wheeled mobile robot with non-holonomic constraints. The obstacle avoidance problem is necessary to be considered when the robot is moving in complex environments. After establishing the kinematics model of a wheeled mobile robot and analyzing the system containing the robot and obstacles, we design appropriate angular velocity of the mobile robot to make the attitude of the robot track a desired direction. Then we use the time-rescaling approach and modify the angular velocity to achieve the obstacle avoidance task in a reasonable time specified in advance. Finally, numerical simulations are carried out and the results verify the effectiveness of the proposed strategy.
引用
收藏
页码：4692 / 4696
页数：5
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