Trajectory tracking of mobile robots in dynamic environments: A linear algebra approach

Authors:
Andrés Rosales;Gustavo Scaglia;Vicente Mut;Fernando Di sciascio
Affiliations:
Instituto de automática (inaut), universidad nacional de san juan, av. libertador san martín 1109 (oeste) – j5400arl, san juan, argentina.;Instituto de automática (inaut), universidad nacional de san juan, av. libertador san martín 1109 (oeste) – j5400arl, san juan, argentina.;Instituto de automática (inaut), universidad nacional de san juan, av. libertador san martín 1109 (oeste) – j5400arl, san juan, argentina.;Instituto de automática (inaut), universidad nacional de san juan, av. libertador san martín 1109 (oeste) – j5400arl, san juan, argentina.
Venue:
Robotica
Year:
2009

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Abstract

A new approach for navigation of mobile robots in dynamic environments by using Linear Algebra Theory, Numerical Methods, and a modification of the Force Field Method is presented in this paper. The controller design is based on the dynamic model of a unicycle-like nonholonomic mobile robot. Previous studies very often ignore the dynamics of mobile robots and suffer from algorithmic singularities. Simulation and experimentation results confirm the feasibility and the effectiveness of the proposed controller and the advantages of the dynamic model use. By using this new strategy, the robot is able to adapt its behavior at the available knowing level and it can navigate in a safe way, minimizing the tracking error.