Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields

Abolfathnikranjbar, Masoud Haidari, Ali Atai
2018 Journal of Computer & Robotics   unpublished
Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is continued. In this article, the effectiveness of the real-time harmonic potential field theory based
more » ... field theory based on the panel method to generate the reference path and orientation of the trajectory tracking control strategy of the three-wheel nonholonomic robot in the presence of variable-size dynamic obstacle is investigated. The control strategy is a hybrid of backstepping kinematic and regressor-based adaptive integral sliding mode dynamic control in the presence of disturbance of the torque level with parameter uncertainties. In order to illustrate the performance of the robot, a hybrid conventional integral sliding mode dynamic control has been established. The employed control methods ensure the stability of the controlled system according to Lyapunov's stability law. The results of simulation program show the remarkable performance of the both methods as the robust dynamic control of the mobile robot in tracking the reference path in unstructured environment containing variable-size dynamic obstacle with outstanding disturbance suppression characteristic.