Actuators (Jan 2024)
Autonomous Obstacle Avoidance and Trajectory Planning for Mobile Robot Based on Dual-Loop Trajectory Tracking Control and Improved Artificial Potential Field Method
Abstract
In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ability to quickly plan a collision-free smooth trajectory curve. This article constructs the kinematic model of the mobile robot, designs a dual-loop trajectory tracking control strategy for position control law and attitude control law algorithms, and improves the traditional artificial potential field method to achieve a good obstacle avoidance strategy for mobile robots. Based on the dual-loop trajectory tracking control and the improved artificial potential field method, the autonomous obstacle avoidance and trajectory planning scheme of the mobile robot is designed, and closed-loop stability verification and analysis are conducted on the overall control system. And through the detailed simulation and experiments, the advantages of the proposed method in trajectory tracking accuracy and motion stability compared to the existing methods are verified, showing good effectiveness and feasibility and laying a good foundation for the application of mobile robots in practical complex scenes.
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