제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.1172-1177
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- 2003
Local Obstacle Avoidance of Nonholonomic Wheeled Mobile Robots in Trajectory Tracking
- Lee, Young-Ho (Department of Precision Mechanical Engineering, Hanyang University) ;
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Park, Jong-Hyeon
(School of Mechanical Engineering, Hanyang University)
- 발행 : 2003.10.22
초록
In this paper, we propose an obstacle avoidance technique in trajectory tracking of nonholonomic wheeled mobile robots. Input-output linearized backstepping controller is used in trajectory tracking, and repulsive type control input for obstacle avoidance is added to it. The added input is generated by fuzzy logic. And we do not add the two inputs directly but combine them via fuzzy logic, which determines the ratings of each input. Some simulations are performed to show that with the proposed algorithm, the mobile robot can track its reference trajectory even if there are multiple obstacles on the trajectory of robot.