Abstract:

This paper presents a control strategy of obstacle avoidance for nonfully constrainedmobilerobots in unknown environment.The avoidance of unexpected obstacles is consideredin a reactive way by following the contour of the obstacles.The robot backwardsmotions are avoided and the robot heading is always in the direction of thegoal point facilitating the obstacle handling. The stability of obstacle avoidance is analyzed under the reasonable conditions. Finally, the goodperformance and the feasibility of this approach are shown through several experimental results.

Key words: Wheeled mobile robots, Nonlinear control, Lyapunov functions, Switched systems, Stability

摘要： 针对非完全约束移动机器人在未知环境下向目标点移动过程中的避障问题,提出了一种对突然出现的障碍物通过其轮廓进行避障的策略。该策略避免机器人反向运动,使其总是朝目标点进行避障运动;在稳定合理的条件下分析了避障的稳定性。实验结果显示,该策略是可行的,并具有良好的性能。

关键词: 轮式移动机器人, 非线性控制, Lyapunov函数, 切换系统, 稳定性