Tracking Control Method Considering Obstacle Avoidance by Reflective Motion for Mobile Robot
Masato Kobayashi, Naoki Motoi · 2018
This paper proposes a tracking control method considering an obstacle avoidance by a reflective motion for a mobile robot. In the mobile robot, a laser range finder is utilized to recognize environmental information. The obstacle avoid motion is created by using environmental information and the virtual manipulators mounted on the mobile robot. In the conventional researches, the flexible obstacle avoidance method by using the kinematic relation between the virtual manipulators and environmental information was reported. This method has the advantage for the calculation cost and flexibility like reflective motion. However, the robot may not follow the desired trajectory after the obstacle avoidance, since this conventional method is based on the velocity control. In order to solve this problem, this paper proposes a combination method of the tracking control and the obstacle avoidance. Considering the velocity limits of the tracking control, it is possible to modify the priority of the trajectory tracking and the obstacle avoidance. The effectiveness of the proposed method was confirmed from the experimental results.