Collision avoidance and control of a mobile robot using a hybrid force control algorithm

摘要

In this paper, a new collision avoidance algorithm based on a potential force field controlled by a hybrid force control algorithm for a mobile robot is proposed. To avoid obstacles on the path of a mobile robot, a potential force field is assumed to be present and regulated by the force control algorithm. The force control algorithm used here is the simple PD type hybrid force control that minimizes the force error directly. A potential force field (PFF) is assumed to be a certain distance measured by a laser finder distance sensor. This PFF is regulated by the control algorithm based on a mobile robot dynamics. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.