Trajectory tracking with collision avoidance for a robot autominy 4.0
This paper presents the design, simulation and implementation of a control for trajectory tracking, considering collision avoidance, for a mobile robot AutoMiny version 4.0. Tracking control is bounded by a hyperbolic tangent function and a repulsive vector field is used for collision avoidance. The...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2022 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/10125 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/10125 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile Robotics AutoMiny 4.0 Trajectory Tracking Collision Avoidance Repulsive Vector Field Robótica Móvil Seguimiento de Trayectorias Evasión de Colisiones Campo Vectorial Repulsivo |
| Sumario: | This paper presents the design, simulation and implementation of a control for trajectory tracking, considering collision avoidance, for a mobile robot AutoMiny version 4.0. Tracking control is bounded by a hyperbolic tangent function and a repulsive vector field is used for collision avoidance. The theoretical results obtained are validated through numerical simulation and experimentally. The implementation was carried out using ROS and an OptiTrack camera system. |
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