Robust Controller Research of Nonholonomic Mobile Robot
Gao Qing-ji, Zhang You-yi · Journal of Northeast Dianli University · 2006
An obstacle avoidance and circle trajectory following controller is proposed for differential driving nonholonomic robot with inaccurate insatiable limited feedback information from monocular pan-tilt camera.Firstly,an elementary circle trajectory following controller to solving the stability problem of the system.based on the Lyapunov theory is desig.ned,Secondly,a variable guided-angle solving the view angle limitation problem and optimizing path trajectory.is proposed to tune the elementary controller parameters, The polygonal obstacles are avoided by tracking circle trajectory whose centers are varied according to polygon using the proposed controller.Finally,the controller's validity and robustness is proved by the simulation and real robot experiment.