Two-wheeled mobile robot motion control in dynamic environments

被引：33

作者：

Deng, M. ^{[1
]}

Inoue, A. ^{[1
]}

Sekiguchi, K. ^{[1
]}

Jiang, L. ^{[1
]}

机构：

[1] Okayama Univ, Grad Sch Nat Sci & Technol, Okayama 7008530, Japan

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2010年 / 26卷 / 03期

关键词：

Local minima; Obstacle; Motion control; Mobile robot;

D O I：

10.1016/j.rcim.2009.11.005

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, a feedback control scheme of a two-wheeled mobile robot is explored in dynamic environments. In the existence of local minima, the design of controller is based on Lyapunov function candidate and considers virtual forces information including detouring force. Simulation results are presented to show the effectiveness of the proposed control scheme. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：268 / 272

页数：5

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