Apply Model-Free Adaptive Control Approach for Mobile Robot Path Following

摘要

The state of the art of mobile robot path planning is composed with global planner and local planner. For example, the global planner majorly establishes a suitable path from a knowing map based on the shortest path. And the local planner which computes the velocity command that includes obstacle clearance and progress toward the goal. However, due to the 2D laser ranger on a mobile service robot just detects the part of the meal table or misses it, this will cause robot often hits the meal table. In this work we apply adaptive control method to feed the goals for Dynamic Window Approach’s (DWA) computing. The experimental result shows that DWA will follow the pre-defined path closely and smoothly.