Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance-Reference-Cited by-同舟云学术

Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

Published:2019-09-01 Issue:5 Volume:16 Page:172988141987731
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Zhang Jingjun¹,Zhang Shaobo¹^ORCID,Gao Ruizhen¹

Affiliation:

1. College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, Hebei China

Abstract

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

Funder

Science and technology research projects of Colleges and Universities in Hebei?China

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/1729881419877316

Reference32 articles.

1. Point stabilization of nonholonomic spherical mobile robot using nonlinear model predictive control

2. Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization

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