Lyapunov-based environmental boundary tracking control of mobile robots

摘要

This paper considers the environmental boundary tracking problem where the objective is to steer a mobile robot to track the desired environmental boundary. Based on the kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn't always hold for a mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat's Lemma and illustrated by simulation results.