Collision-Free Navigation of Wheeled Mobile Robots: An Integrated Path Planning and Tube-Following Control Approach
CoRR(2023)
摘要
In this paper, an integrated path planning and tube-following control scheme
is proposed for collision-free navigation of a wheeled mobile robot (WMR) in a
compact convex workspace cluttered with sufficiently separated spherical
obstacles. An analytical path planning algorithm is developed based on
Bouligand's tangent cones and Nagumo's invariance theorem, which enables the
WMR to navigate towards a designated goal location from almost all initial
positions in the free space, without entering into augmented obstacle regions
with safety margins. We further construct a virtual "safe tube" around the
reference trajectory, ensuring that its radius does not exceed the size of the
safety margin. Subsequently, a saturated adaptive controller is designed to
achieve safe trajectory tracking in the presence of disturbances. It is shown
that this tube-following controller guarantees that the WMR tracks the
reference trajectory within the predefined tube, while achieving uniform
ultimate boundedness of both the position tracking and parameter estimation
errors. This indicates that the WMR will not collide with any obstacles along
the way. Finally, we report simulation and experimental results to validate the
effectiveness of the proposed method.
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