Dynamic Collision Avoidance for Car-like Mobile Robot Based on Nonlinear Trajectory Tracking Control

被引：0
|
作者：
Fan, Yunsheng [1 ]
Sun, Yutong [1 ]
Wang, Guofeng [1 ]
机构：
[1] Dalian Maritime Univ, Sch Informat Sci & Technol, Dalian, Peoples R China
来源：
2017 NINTH INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE (ICACI) | 2017年
基金：
中国国家自然科学基金;
关键词：
car-like mobile robot; trajectory tracking; dynamic collision avoidance; nonlinear control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Aimed at the trajectory tracking control problem and dynamic collision avoidance problem of the nonholonomic car-like mobile robots under the unknown circumstance, a dynamic collision avoidance method based on nonlinear trajectory tracking control is proposed. Firstly, we develop mathematical model of the car-like mobile robot and design a trajectory tracking controller based on backstepping method. Then, the dynamic collision avoidance controller is designed using the velocity resolution in the process of reference trajectory tracking Finally, dynamic collision avoidance control during the trajectory tracking for car-like mobile robot is realized. The simulation results show that both the nonlinear algorithm of trajectory tracking control and the velocity resolution of dynamic collision avoidance is validity. It can provide the reference for dynamic collision avoidance design during the trajectory tracking of the car-like mobile robot.
引用
收藏
页码：84 / 90
页数：7
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