Real-time Tracking Control with Avoidance Of Multiple Mobile Obstacle Robots
Eric Jing Hu, Simon X. Yangl, David Chiu, William R. Smith · 2002
In this paper, a new method for real time track- ing control with obstacle avoidance of multiple mobile robots is presented. The design goal was to track the desired tra- jectory safely and efficiently in a completely unknown en- vironment. A novel tracking controller h proposed by in- corporating neural dynamics equations into a conventional non-time based controller. An obstacle avoidance algorithm for the controller is also presented. The robots are able to pass around the obstacles toward the target without wait- ing for the removal of obstacles or replanning of robot path as In a conventional non-time based approach. In addition, the method is more efficient and less sensitlve to sensor mb reading. The effectiveness of the proposed method is demon- strated by a series of simulation and comparison studies.