Real-Time Trajectory Control of Robots Omnidirectional Mobile Obstacle Avoidance

Abstract

On the basis of Dick Stella algorithm and Bessel Curve, this paper proposes an improved algorithm for real-time obstacle avoidance control of mobile robots. With strong robustness, this algorithm can effectively solve the problem of robot path planning and tracking while meeting the dynamic constraint conditions. The simulation results show that the improved algorithm shortens the robot moving period and remarkably improves the motion planning in robot obstacle avoidance.