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Trajectory tracking of mobile robots in dynamic environments—a linear algebra approach

Published online by Cambridge University Press:  26 February 2009

Andrés Rosales ,
Gustavo Scaglia ,
Vicente Mut  and
Fernando di Sciascio
Andrés Rosales*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina.
Gustavo Scaglia
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina.
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina.
Fernando di Sciascio
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina.
*
*Corresponding author. E-mail: arosales@inaut.unsj.edu.ar
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Summary

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.

Keywords

Collision avoidanceDynamic modelForce field methodLinear algebraMobile robotTrajectory tracking
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 981 - 997
Copyright
Copyright © Cambridge University Press 2009

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