Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
This work addresses motion control for mobile robots with limited sensing, but the results are incremental and lack quantitative comparisons.
The paper proposes a reactive planning based control strategy for mobile robots to navigate from start to goal in obstacle-cluttered environments with only partial information, demonstrating efficacy through numerical examples.
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without collisions. For this purpose, a reactive planning based control strategy (RPCS) is proposed. First, the initial and target positions are connected as a reference trajectory. Then, a reactive planning strategy (RPS) is developed to ensure the collision avoidance by modifying the reference trajectory locally based on the partial environment information. Next, an adaptive tracking control strategy (ATCS) is proposed to track the reference trajectory with potentially local modifications via the discretization techniques. Finally, the RPS and ATCS are combined to establish the RPCS, whose efficacy and advantages are illustrated by numerical examples.