An Integrated Approach for Efficient Mobile Robot Trajectory Tracking and Obstacle Avoidance

Aleksandar Cosic, Marko Susic, Dusko Katic

Abstract

An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. This approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.

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Paper Citation


in Harvard Style

Cosic A., Susic M. and Katic D. (2012). An Integrated Approach for Efficient Mobile Robot Trajectory Tracking and Obstacle Avoidance.In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 211-216. DOI: 10.5220/0004010402110216


in Bibtex Style

@conference{icinco12,
author={Aleksandar Cosic and Marko Susic and Dusko Katic},
title={An Integrated Approach for Efficient Mobile Robot Trajectory Tracking and Obstacle Avoidance},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={211-216},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004010402110216},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Integrated Approach for Efficient Mobile Robot Trajectory Tracking and Obstacle Avoidance
SN - 978-989-8565-22-8
AU - Cosic A.
AU - Susic M.
AU - Katic D.
PY - 2012
SP - 211
EP - 216
DO - 10.5220/0004010402110216