A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments
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....
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-12-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/9/1/42 |
| _version_ | 1797999530950524928 |
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| author | Jianhua Li Jianfeng Sun Guolong Chen |
| author_facet | Jianhua Li Jianfeng Sun Guolong Chen |
| author_sort | Jianhua Li |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T11:06:08Z |
| format | Article |
| id | doaj.art-3a73b1021533454b98b1482e14aa3a39 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-04-11T11:06:08Z |
| publishDate | 2019-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-3a73b1021533454b98b1482e14aa3a392022-12-22T04:28:21ZengMDPI AGElectronics2079-92922019-12-01914210.3390/electronics9010042electronics9010042A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle EnvironmentsJianhua Li0Jianfeng Sun1Guolong Chen2School of Mechanical & Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, ChinaSchool of Mechanical & Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, ChinaSchool of Mechanical & Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, ChinaThe 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.https://www.mdpi.com/2079-9292/9/1/42trajectory trackingobstacle avoidanceswitch strategymobile robots |
| spellingShingle | Jianhua Li Jianfeng Sun Guolong Chen A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments Electronics trajectory tracking obstacle avoidance switch strategy mobile robots |
| title | A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments |
| title_full | A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments |
| title_fullStr | A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments |
| title_full_unstemmed | A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments |
| title_short | A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments |
| title_sort | multi switching tracking control scheme for autonomous mobile robot in unknown obstacle environments |
| topic | trajectory tracking obstacle avoidance switch strategy mobile robots |
| url | https://www.mdpi.com/2079-9292/9/1/42 |
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