An Enhanced Navigation Algorithm with an Adaptive Controller for Wheeled Mobile Robot Based on Bidirectional RRT

A navigation algorithm providing motion planning for two-wheeled mobile robots is proposed in this paper. The integrates path planning, velocity and controller design. Bidirectional rapidly-exploring random trees algorithms (RRT) with pruning smoothing mechanism are firstly used to obtain a collision-free the robot destination directional continuity. Secondly, based on trapezoidal profile both linear angular velocities, but position error of endpoint curve appears due coupling problem nonlinear system. To reduce error, an approximation method gradually modify several parts time length profile, so continuity can still be maintained. Thirdly, keeping planned designed dynamic model robot. parameters estimated by adaptive low, gain adjusted fuzzy logic control avoid case that value saturated. stability convergence tracking guaranteed Lyapunov theory. Simulation results presented illustrate effectiveness efficiency.