Path tracking control of a driven mobile robot in a dynamic environment

摘要

This paper deals with the problem of path tracking of a driven mobile robot in a dynamic environment, where the workspace is cluttered with unpredictably moving persons and objects. The multidisciplinary system was described in VHDL-AMS. A concept of virtual prototype makes possible the characterization and the optimization of the mobile robot. A robust adaptive controller is proposed using an adaptive control feed forward Neural Network technique. The proposed control scheme employs the adaptive control approach to make the tracking error as small as possible. This algorithm was developed as a model of the feed forward Neural Network for generalization and fast convergence. Moreover, this algorithm is designed for testing a new physical structure of mobile robot in different configuration of environment for autonomous navigation. This can be achieved when the robot must reach a distance on the right or on the left or go straight and also when persons and objects are in activity in the same environment. The performance of the proposed approach is demonstrated through a simulation and experimental results.