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移动机器人在未知环境中避障的控制策略

辽宁石油化工大学学报

2016年 36卷第No.4期

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Title

The Control Strategy of Obstacle Avoidance forMobile Robot in Unknown Environment

单位

(辽宁石油化工大学计算机与通信工程学院,辽宁抚顺113001)

Organization

School of Computer and Communication Engineering，Liaoning Shihua University, Fushun Liaoning 113001, China

摘要

关键词: 轮式移动机器人, 非线性控制, Lyapunov函数, 切换系统, 稳定性

Abstract

This paper presents a control strategy of obstacle avoidance for nonfully constrainedmobilerobots in unknown environment.The avoidance of unexpected obstacles is consideredin a reactive way by following the contour of the obstacles.The robot backwardsmotions are avoided and the robot heading is always in the direction of thegoal point facilitating the obstacle handling. The stability of obstacle avoidance is analyzed under the reasonable conditions. Finally, the goodperformance and the feasibility of this approach are shown through several experimental results.

关键词：

轮式移动机器人; 非线性控制; Lyapunov函数; 切换系统; 稳定性;

Keywords:

Wheeled mobile robots; Nonlinear control; Lyapunov functions; Switched systems; Stability;

基金项目

抚顺市科学技术发展资金计划资助项目(FSKJHT201548);大学生创新创业资助项目(201410148060,201510148068)。

DOI

10.3969/j.issn.1672-6952.2016.04.015