Real-time Obstacle Avoidance of a Two-wheeled Mobile Robot via the Minimum Projection Method

Yoshiro Fukui, Hisakazu Nakamura, Hirokazu Nishitani
This paper considers real-time obstacle avoidance control of a two-wheeled nonholonomic mobile robot. In this paper, we propose a discontinuous asymptotic stabilizing state feedback control law for a real-time obstacle avoidance problem via the minimum projection method. The method guarantees asymptotic stability and reduces the computational cost. The effectiveness of the proposed method is comfirmed by experiments .