Integrated Path Tracking Control for Collision Avoidance of Autonomous Mobile Robot with Unknown Disturbance

摘要

Autonomous mobile robot (AMR) has been appealed for intelligent manufacturing and automation applications due to their commendable performance. In the presence of external disturbances and modeling parametric perturbations in industrial applications, it is difficult for the considered AMR to accurately tracking on a desired trajectory while avoiding collisions. In order to solve this challenge, this paper proposes an integrated path tracking control based on an improved adaptive decoupled sliding mode controller (ADSMC). Firstly, the path planning is optimized by using the goal biased rapidly-exploring random tree rajectory planning scheme that considers angle constraints and variable step length. Secondly, an improved decoupled sliding mode controller is designed to follow this path. Adapative gains are scheduled online by exploring barrier functions, which maintains the tracking integrated in a small neighborhood of origin in unknown environments. The convergence and stability of the AMR system are guaranteed theoretically. Finally, through several experiments, the effectiveness of the scheme proposed in this paper is verified.