A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

doi:10.3390/electronics9010042

IR > 机电工程学院

	A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments
	Li, Jianhua; Sun, Jianfeng; Chen, Guolong
	2020-01
发表期刊	ELECTRONICS
卷号	9 期号:1
摘要	The 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.
关键词	trajectory tracking obstacle avoidance switch strategy mobile robots
DOI	10.3390/electronics9010042
收录类别	SCI ; SCIE
语种	英语
资助项目	National Key R&D Program of China[2018YFB1309005]
WOS研究方向	Engineering
WOS类目	Engineering, Electrical & Electronic
WOS记录号	WOS:000516827000042
出版者	MDPI
来源库	WOS
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/64321
专题	机电工程学院
通讯作者	Sun, Jianfeng
作者单位	Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China
第一作者单位	兰州理工大学
通讯作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 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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文件名称/大小	文献类型	版本类型	开放类型	使用许可
Li-2020-A Multi-Swit（3992KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载