Free motion and obstacle avoidance control for mobile robots.

Abstract

Mobile robot motion control has been extensively studied based on a simplified mobile robot and actuator dynamic model. Free ion and obstacle avoidance require suitable robot and actuator models and the integration of sensor information into the system controller. In the present thesis, artificial impedance approach is used for developing the controller of an autonomous mobile robot. The control law is based on a Newtonian dynamics model of mobile the robot. Range sensor information is used in the trajectory correction for avoiding collision with obstacles. Simulation results illustrate the performance of the impedance based controller.