Trajectory tracking control of four-wheeled omnidirectional mobile robot considering time consumption in obstacle bypass

被引：0
|
作者：
Wang S. [1 ]
Fu Q. [1 ]
Jiang L. [2 ]
Xie Y. [1 ,3 ]
机构：
[1] School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan
[2] State Key Laboratory of New Textile Materials and Advanced Processing Technology, Wuhan Textile University, Wuhan
[3] Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2023年 / 51卷 / 06期
关键词：
adaptive step; mobile robot; obstacle avoidance; receding horizon control; trajectory tracking control;
D O I：
10.13245/j.hust.230601
中图分类号：
学科分类号：
摘要：
To ensure the working safety of mobile robot in dynamic environment，it is necessary to realize real-time obstacle avoidance using trajectory replanning． However，path replanning leads to extra computational burden，which makes it difficult to ensure the real-time control performance． To achieve high-efficiency and high-precision motion control of the considered mobile robot，a trajectory tracking controller considering the time consumption around obstacles was proposed for the four-wheel omnidirectional mobile robot． Firstly，the reference curvature was integrated into the error model of four-wheel omnidirectional mobile robot，and the control horizon and prediction horizon were dynamically optimized to improve the control accuracy when tracking complex curved paths． Then，the correlation between control time domain and replanning time was analyzed，and the adaptive step adjustment strategy was designed to improve the real-time control performance in the obstacle avoidance mode． The test results show that，compared with proportional-derivative (PD) control and traditional rolling time domain control methods，the proposed one has better control and real-time performance when considering obstacle avoidance. © 2023 Huazhong University of Science and Technology. All rights reserved.
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页码：1 / 9
页数：8
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