Optimal tracking control of a nonholonomic mobile robot

摘要

The position control problem of a nonholonomic mobile robot has been an important class of control problem. It receives a task from a human operator, and must perform the given task in the environment including a lot of obstacles such as human bodies and other robots. Therefore the mobile robot must perform given tasks and path planning by itself. In this paper we discuss an intelligent tracking control of navigating a mobile robot in an unknown environment. Through suggested intelligent control, a mobile robot is able to perform minimization of the distance to the moving goal by online motion planning from actual sensor data. Simulation shows the effectiveness of accurate tracking capability and the robust performance of proposed scheme.