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

doi:10.3390/electronics9010042

CORC > 兰州理工大学 > 兰州理工大学 > 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
刊名	ELECTRONICS
	2020-01
卷号	9 期号:1
关键词	trajectory tracking obstacle avoidance switch strategy mobile robots
DOI	10.3390/electronics9010042
英文摘要	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.
资助项目	National Key R&D Program of China[2018YFB1309005]
WOS研究方向	Engineering
语种	英语
出版者	MDPI
WOS记录号	WOS:000516827000042
状态	已发表
内容类型	期刊论文
源URL	[http://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
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).