Design of Stable Algorithms for Mobile Robot Control withObstacle Avoidance

摘要

In this paper mobile robot control laws, including obstacle avoidance based on ultrasonic sensorialinformation are proposed. The mobile robot is assumed to evolve in a semi-structured environment.The control systems are based on the use of the extended impedance concept, in which therelationship between fictitious forces and motion error is regulated. The fictitious forces are generatedfrom the information provided by ultrasonic sensors on the distance from the obstacle to the robot.The control algorithms also prevent from the potential problem of control command saturation. Thepaper includes the stability analysis of the developed control systems, using positive definite potentialfunctions.