Abstract
In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters of desired trajectory is investigated. First, the under-actuated system is transformed into a fully-actuated system by obtaining an auxiliary control variable using the transverse function. Second, by introducing a potential function for each obstacle, the influence of obstacles is considered in trajectory tracking, and the effect of the potential field on mobile robots is taken into account in the system tracking error. Third, the adaptive laws are designed to estimate the unknown parameters of the desired trajectory. Fourth, the results show that the formation error with respect to the actual position and orientation can be arbitrarily small by selecting appropriate design parameters. Finally, simulation examples are used to demonstrate that the proposed control scheme is effective.
Funder
National Key Research and Development Program of China
National Natural Science Foundation of China
Research Projects of Chongqing Science and Technology Program
Research Project of Ministry of Science and Technology of China
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science