Velocity space based concurrent obstacle avoidance and trajectory tracking for mobile robots

被引：0
|
作者：
Zhang Q.-B. [1 ]
Wang P. [1 ]
Chen Z.-H. [1 ]
机构：
[1] Department of Automation, University of Science and Technology of China, Hefei
来源：
Chen, Zong-Hai (chenzh@ustc.edu.cn) | 1600年 / Northeast University卷 / 32期
关键词：
Obstacle avoidance; Trajectory tracking; Velocity space; Wheeled mobile robots;
D O I：
10.13195/j.kzyjc.2015.1376
中图分类号：
学科分类号：
摘要：
Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots in the presence of obstacles in the environment, a velocity space based concurrent obstacle avoidance and trajectory tracking method(VSTTM) is proposed. Firstly, a velocity space is built according to the dynamics of the robot, and the control set made up by velocity pairs is constructed. Then, an objective function is designed to evaluate the controls, among which the tracking error function evaluates the tracking errors, the collision detection function checks if a collision happens, and the terminal-state penalty termguarantees the stability of the proposed algorithm. Finally, the optimal collision-free control is found through an optimization progress. Simulation results show the effectiveness of the proposed approach. © 2017, Editorial Office of Control and Decision. All right reserved.
引用
收藏
页码：358 / 362
页数：4
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