Sensors (Jul 2024)

Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications

  • Panagiotis S. Trakas,
  • Spyridon I. Anogiatis,
  • Charalampos P. Bechlioulis

DOI
https://doi.org/10.3390/s24144636
Journal volume & issue
Vol. 24, no. 14
p. 4636

Abstract

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In this paper, we address the trajectory-/target-tracking and obstacle-avoidance problem for nonholonomic mobile robots subjected to diamond-shaped velocity constraints and predefined output performance specifications. The proposed scheme leverages the adaptive performance control to dynamically adjust the user-defined output performance specifications, ensuring compliance with input and safety constraints. A key feature of this approach is the integration of multiple constraints into a single adaptive performance function, governed by a simple adaptive law. Additionally, we introduce a robust velocity estimator with a priori-determined performance attributes to reconstruct the unmeasured trajectory/target velocity. Finally, we validate the effectiveness and robustness of the proposed control scheme, through extensive simulations and a real-world experiment.

Keywords