Position control with dynamic obstacle avoidance in omnidirectional mobile robots
Rodrigo Villalvazo-Covian, Marlen Meza‐Sánchez, Eddie Clemente, M. C. Rodriguez-Linan, Luis Monay-Arredondo, Gustavo Olague · 2021
The development of a position controller for omnidirectional mobile robots with dynamic obstacle avoidance is addressed in this work. Asymptotic stability is proven under Lyapunov theory, and the analysis of the fulfillment of the dynamic obstacle avoidance task is also outlined. Numerical simulations are presented to illustrate the capabilities of the proposed control law.