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Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance
| Content Provider | SAGE Publishing |
|---|---|
| Author | Zhang, Jingjun Zhang, Shaobo Gao, Ruizhen |
| Copyright Year | 2019 |
| 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. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881419877316?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 16 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881419877316 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2019-09-25 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2019 |
| Subject Keyword | Nonholonomic mobile robots trajectory tracking obstacle avoidance discrete-time system model predictive control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
