A New Trajectory Generation and Tracking Control Design for Nonholonomic Mobile Robots Using Complex Potentials
نویسندگان
چکیده
In this paper, we present an analytical solution for the trajectory generation and tracking control design of mobile robots with nonholonomic constraints moving in a dynamic environment populated with obstacles. By explicitly defining complex potential primitives, the desired trajectory from a start position to the goal position can be generated following the negative gradient of complex potential. The proposed design yields no local minimum, and is feasible for the tracking control design of mobile robots with nonholonomic constraints. Numerical examples are provided to illustrate the proposed method.
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