Trajectory Tracking and Obstacle Avoidance of Car-Like Mobile Robots in an Intelligent Space Using Mixed $H_{2}/H_{infty}$ Decentralized Control

摘要

In this paper, the trajectory tracking and obstacle avoidance of a car-like mobile robot (CLMR) within an intelligent space via mixed $H_{2}/H_{infty}$ decentralized control is developed. To obtain obstacle avoidance and trajectory tracking, two distributed charge-coupled device (CCD) cameras are established to realize the pose of the CLMR and the position of the obstacle. Based on the authority of these two CCD cameras, a suitable reference command for the proposed controller of the CLMR is planned online by the information of the CCD camera with higher authority. Many of the problems encountered by classic mobile robots are solved. Because an arbitrarily smooth trajectory can be approximated by a set of piecewise lines, the trajectory tracking of the piecewise line is addressed. The features of the proposed control are smaller energy consumption with bounded tracking error, attenuation of output disturbance, and improvement of control performance. The overall system contains two processors (i.e., personal computer and digital signal processor) with multiple sampling rates. Finally, a sequence of experiments including the comparison among the proposed control, PID control, different microprocessor control system, and different initial poses are carried out to confirm the usefulness of the suggested control system.