Abstract
The wheeled mobile robots used in the flexible manufacturing systems act in an environment with static and dynamic obstacles. This paper proposes a new control method for the wheeled mobile robots movement in the presence of static and dynamic obstacles. The dynamic model used for steering and obstacle avoidance is the differential equations system. The environment is the commonly used laser range finder (LRF) system. The obstacle avoidance control is solved using the trajectory tracking control. The sliding mode control approach is used for the trajectory tracking problem. The effectiveness of the proposed local navigational system in an unknown environment with static and moving objects, corresponding to flexible manufacturing system, is proved through simulation results.
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Şolea, R., Cernega, D.C. (2013). Obstacle Avoidance for Trajectory Tracking Control of Wheeled Mobile Robots. In: Borangiu, T., Thomas, A., Trentesaux, D. (eds) Service Orientation in Holonic and Multi Agent Manufacturing and Robotics. Studies in Computational Intelligence, vol 472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35852-4_18
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DOI: https://doi.org/10.1007/978-3-642-35852-4_18
Publisher Name: Springer, Berlin, Heidelberg
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