双轮移动机器人运动目标追踪与避障控制算法

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2007, Vol. 28 ›› Issue (2): 445-450.

Previous Articles Next Articles

Movingtarget Tracking and Obstacle Avoidance Control Algorithm for Unicycle Mobile Robots

LI Bao-guo^1,2,ZONG Guang-hua¹

1Robotics Institute, Beijing University of Aeronautics and Astronautics 2 Institute of Optoelectronic Technology, Beijing University of Aeronautics and Astronautics

Received:2005-10-24 Revised:2005-12-30 Online:2007-03-10 Published:2007-03-10
Contact: LI Baoguo^1,2

Abstract

Abstract:

A moving target tracking and obstacle avoidance control system for unicycle mobile robots is proposed in this paper.The control system consists of two nested loops.Tracking law in the inner loop controls the robot to track the target via reducing the posture error to zero and its stability is analyzed using Lyapunov function method.The law also takes into account of the velocity limit of the robot.

Key words: mobile , robot, , target , tracking, , impedance , control, , obstacle , avoidance

CLC Number:

TP242.6

LI Bao-guo;ZONG Guang-hua. Movingtarget Tracking and Obstacle Avoidance Control Algorithm for Unicycle Mobile Robots[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2007, 28(2): 445-450.

[1]	Qiang XU, Hongliang CUI, Bangping DING, Aigang ZHAO, Yang ZHAO. Two-stage strong tracking differential Kalman filter for X-ray pulsar navigation with coloured noise [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526120-526120.
[2]	Yongxing TANG, Zhanxia ZHU, Hongwen ZHANG, Jianjun LUO, Jianping YUAN. A tutorial and review on robot motion planning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(2): 26495-026495.
[3]	Zhiqiang WEI, Zheming WENG, Yongzhao HUA, Xiwang DONG, Zhang REN. Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(2): 326504-326504.
[4]	Zikang SU, Zhongnan XU, Chuntao LI, Haitong CHEN, Honglun WANG. Modeling and docking control of UAV aerial recovery in form of telescopic boom [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 326315-326315.
[5]	Yuanliang XUE, Guodong JIN, Lining TAN, Jiankun XU. Adaptive UAV target tracking algorithm based on multi-scale fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 326107-326107.
[6]	Yating FENG, Hui ZHANG. Aerodynamic drag reduction device based on rear wind energy harvesting [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 180-191.
[7]	Kai LUO, Yonghai WANG, Qiu WANG, Jiwei LI, Zheng LI, Chunsheng NIE, Zheng LI. Plasma-actuated flow control test in high enthalpy shock tunnel [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 89-96.
[8]	Xudong ZHANG, Zheng LI, Hao DONG, Siyuan GAO, Zubi JI, Kaixin LI, Guanghui BAI. Drag reduction characteristics of opposing plasma synthetic jet in hypersonic flow [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 115-123.
[9]	Zheng LI, Cong XU, Jian ZHANG, Mengmeng LI, Yilei MA, Guanghui BAI. Reverse jet flow control by plasma synthetic jet actuator in high speed flow field [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 225-232.
[10]	Zhengxue MA, Zhenbing LUO, Aihong ZHAO, Yan ZHOU, Wei XIE, Qiang LIU, Yinxin ZHU, Wenqiang PENG. Reverse jet characteristics of plasma synthetic jet in hypersonic flow field [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 192-203.
[11]	Hai DU, Lejie YANG, Zheng LI, Yue XU, Jingyang SUN, Yuhang WANG. Lifting mechanism and energy efficiency analysis of multistage circulation control technology [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 54-66.
[12]	Kai LUO, Qiu WANG, Jinping LI, Wei ZHAO. Magnetohydrodynamic flow control of double-cone under high temperature real gas effect [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 76-88.
[13]	HU Yangxiu, ZHAO Changchun, JIA Chenglong, QIAN Zhouyuan, HU Tao. Synchronous path formation control of UAV swarm based on robot operating system (ROS) [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726914-726914.
[14]	HU Wei, WAN Wenzhang, CHEN Mou. Neural network and disturbance observer based control for automatic carrier landing of UAV [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726963-726963.
[15]	CHEN Bo, YUE Kai, WANG Rusheng, HU Mingnan. Learning-based multi-rate multi-sensor fusion localization method [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726904-726904.

Movingtarget Tracking and Obstacle Avoidance Control Algorithm for Unicycle Mobile Robots

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments