Trajectory Tracking Using Artificial Potential Fields
| Main Authors: | Krishna S. Raghuwaiya, Shonal Singh, Jito Vanualailai |
|---|---|
| Format: | Article |
| Bahasa: | eng |
| Terbitan: |
, 2012
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/1081227 |
Daftar Isi:
- In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.