A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments
Li, Jianhua; Sun, Jianfeng; Chen, Guolong
2020-01
Source PublicationELECTRONICS
Volume9Issue:1
AbstractThe 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.
Keywordtrajectory tracking obstacle avoidance switch strategy mobile robots
DOI10.3390/electronics9010042
Indexed BySCI
Language英语
Funding ProjectNational Key R&D Program of China[2018YFB1309005]
WOS Research AreaEngineering
WOS SubjectEngineering, Electrical & Electronic
WOS IDWOS:000516827000042
PublisherMDPI
Citation statistics
Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.lut.edu.cn/handle/2XXMBERH/64321
Collection机电工程学院
Corresponding AuthorSun, Jianfeng
AffiliationLanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China
First Author AffilicationLanzhou University of Technology
Corresponding Author AffilicationLanzhou University of Technology
First Signature AffilicationLanzhou University of Technology
Recommended Citation
GB/T 7714
Li, Jianhua,Sun, Jianfeng,Chen, Guolong. A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments[J]. ELECTRONICS,2020,9(1).
APA Li, Jianhua,Sun, Jianfeng,&Chen, Guolong.(2020).A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments.ELECTRONICS,9(1).
MLA Li, Jianhua,et al."A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments".ELECTRONICS 9.1(2020).
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