To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacleavoidance *** the synergistic robustness and smooth navigation of mobi...
详细信息
To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacleavoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacleavoidance problem into a dynamictracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacleavoidance efficiency of the concerned FMR system.
暂无评论