Adaptive tracking and obstacle avoidance for a class of mobile robots in the presence of unknown skidding and slipping

摘要

An adaptive control approach is proposed for path tracking and obstacle avoidance of mobile robots considering unknown skidding and slipping. The proposed adaptive controller consisting of a kinematic controller and a torque controller for the dynamic model is derived to compensate the unknown skidding and slipping effect. From Lyapunov-stability analysis, it is proved regardless of unknown skidding and slipping that all signals of the controlled closed-loop system are semiglobally uniformly ultimately bounded, the point tracking errors converge to an adjustable neighbourhood of the origin outside the obstacle detection region and the obstacle avoidance is guaranteed inside the obstacle detection region. The performance and stability of the proposed control system are verified from simulation results.