Robust tracking control and obstacle avoidance for non-holonomic mobile agents
(English)Manuscript (preprint) (Other academic)
Mobile robotics is a subfield of robotics that has received much attention in the last decades and the problem of tracking a moving object has been considered in many different settings. In this paper we consider a unicycle robot with non-holonomic motion constraints that tracks a target, using only local information. The presence of non-holonomic constraints is a complicating factor that is often deliberately overlooked in theoretical work. Still, for the results to be directly implementable, the non-holonomic constraints must be taken into account. In the paper, two types of decentralized tracking control algorithms, which do not require global information about the system, are proposed. Robustness to measurement noise is demonstrated in simulations and, in addition, a reactive obstacle avoidance control that can easily be integrated with the tracking functions is suggested.
IdentifiersURN: urn:nbn:se:kth:diva-10905OAI: oai:DiVA.org:kth-10905DiVA: diva2:231577
QC 201007142009-08-142009-08-142010-07-15Bibliographically approved