A non-time-based controller with neural dynamics for nonholonomic mobile robots.

摘要

Event based controller design was first proposed by Xi (1993), where a suitable non-time motion reference is introduced to represent the desired and measurable system output. It has been successfully applied to many areas, such as robot motion control, multi-robot coordination, force and impact control, robotic teleoperation and manufacturing automation. Due to disturbances and noise, controlling a mobile robot to track the desired path becomes a fundamentally important issue in robotics. In this thesis, a novel non-time based tracking controller for nonholonomic mobile robots is proposed by combining the conventional event based control technique with a biologically inspired neural dynamics model first proposed by Grossberg (1982). The proposed control algorithm can generate smooth and continuous velocity control commands. These commands remove the small tracking error constraints and possible oscillations in the conventional non-time based controllers. A novel tracking control algorithm for a discrete trajectory is proposed as well. The effectiveness of the proposed controller is demonstrated by simulation and comparison studies. A tracking control algorithm is also presented for multiple mobile robots to maintain them in a required formation, avoiding collisions in the presence of obstacles.