A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

被引:7
|
作者
Li, Jianhua [1 ]
Sun, Jianfeng [1 ]
Chen, Guolong [1 ]
机构
[1] Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China
基金
国家重点研发计划;
关键词
trajectory tracking; obstacle avoidance; switch strategy; mobile robots; TRAJECTORY TRACKING; PREDICTIVE CONTROL; ADAPTIVE TRACKING; REAL-TIME; AVOIDANCE; NAVIGATION;
D O I
10.3390/electronics9010042
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 obstacle avoidance control of mobile robots has been widely investigated for numerous practical applications. In this study, a control scheme is presented to deal with the problem of trajectory tracking while considering obstacle avoidance. The control scheme is simplified into two controllers. First, an existing trajectory tracking controller is used to track. Next, to avoid the possible obstacles in the environment, an obstacle avoidance controller, which is used to determine the fastest collision avoidance direction to follow the boundary of the obstacle at a constant distance, is proposed based on vector relationships between the robot and an obstacle. Two controllers combined via a switch strategy are switched to perform the task of trajectory tracking or obstacle avoidance. The stability of each controller in the control scheme is guaranteed by a Lyapunov function. Finally, several simulations are conducted to evaluate the proposed control scheme. The simulation results indicate that the proposed scheme can be applied to the mobile robot to ensure its safe movement in unknown obstacle environments.
引用
收藏
页数:15
相关论文
共 50 条
  • [41] Multi-Sensor Surveillance of Indoor Environments by an Autonomous Mobile Robot
    Di Paola, Donato
    Naso, David
    Milella, Annalisa
    Cicirelli, Grazia
    Distante, Arcangelo
    2008 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2008, : 23 - +
  • [42] Autonomous mobile robot path planning in unknown dynamic environments using neural dynamics
    Chen, Yanjie
    Liang, Jiacheng
    Wang, Yaonan
    Pan, Qi
    Tan, Jianhao
    Mao, Jianxu
    SOFT COMPUTING, 2020, 24 (18) : 13979 - 13995
  • [43] Design of switching path-planning control for obstacle avoidance of mobile robot
    Wai, Rong-Jong
    Liu, Chia-Ming
    Lin, You-Wei
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2011, 348 (04): : 718 - 737
  • [44] A Behavioral Multi-robot Formation Control Approach in Obstacle Environments
    Yang, Li
    Li, Jigong
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 6767 - 6771
  • [45] A Virtual Force Interaction Scheme for Monitoring Complex Unknown Environments by Autonomous Mobile Robots
    Ji, Kang
    Zhang, Qian
    Cheng, Hui
    Yu, Dingli
    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), 2019, : 95 - 100
  • [46] Multi-sensor data fusion for autonomous mobile robot in unknown environment
    Hong, W
    Tian, YT
    Cui, MY
    Dong, ZL
    ICEMI'2001: FIFTH INTERNATIONAL CONFERENCE ON ELECTRONIC MEASUREMENT AND INSTRUMENTS, VOL 1, CONFERENCE PROCEEDINGS, 2001, : 418 - 421
  • [47] Multi-Switching Combination Anti-synchronization of Unknown Hyperchaotic Systems
    Muhammad Shafiq
    Israr Ahmad
    Arabian Journal for Science and Engineering, 2019, 44 : 7335 - 7350
  • [48] Autonomous Mobile Robot Exploration in Negative Obstacle Environment
    Keskin, Numan
    Uslu, Erkan
    Cakmak, Furkan
    Altuntas, Nihal
    Amasyali, M. Fatih
    Yavuz, Sirma
    2017 25TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU), 2017,
  • [49] Compound zeno behavior-based autonomous mobile robot obstacle avoidance algorithm in unknown environment
    Li, Shoutao
    Li, Yuanchun
    ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2, 2006, : 806 - +
  • [50] Navigation of an Autonomous Wheeled Robot in Unknown Environments Based on Evolutionary Fuzzy Control
    Chou, Ching-Yu
    Juang, Chia-Feng
    INVENTIONS, 2018, 3 (01)