1003 Lyapunov control of a two wheeled mobile robot in the presence of obstacles

Abstract

This paper deals with the feedback stabilization problem for a two wheeled mobile robot which moves in the presence of obstacles such as walls and pillars. We propose a method of designing a discontinuous feedback controller based on Lyapunov control. By the method, first, a positive-definite function (Lyapunov function) which is minimized at a desired point is set, and then, the control input is designed by multiplying the gradient vector of the Lyapunov function by a matrix that is composed of a symmetric matrix and a skew-symmetric matrix. Collision avoidance for the mobile robot is achieved by a suitable choice of the Lyapunov function according to the obstacles. The effectiveness of the designed controller has been verified by numerical simulations.