A path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile robot may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile robot can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. We find that various locations and directions of the distance sensors can affect the results.
|Number of pages||9|
|Journal||Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao|
|Publication status||Published - 2004 Feb 1|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering