Optimal Trajectory Planning and Robust Control for Enhanced Unmanned Ground Vehicle Performance *

Abstract

This study focuses on formulating a trajectory planning approach employing the mobile robot. Our primary objective lies in ensuring stability and real-time tracking of a reference trajectory, considering dynamic stability limits and accounting for the impact of disturbances during trajectory planning. The proposed approach in this paper employs a potential field method to facilitate the robot's trajectory tracking while effectively avoiding obstacles. A series of experiments conducted under realistic conditions validate the robust performance of the technique, leveraging the QBot-2e mobile robot. The results demonstrate promising outcomes in achieving accurate trajectory tracking while effectively mitigating disturbances and ensuring obstacle avoidance.