Autonomous Obstacle Avoidance and Trajectory Planning for Mobile Robot Based on Dual-Loop Trajectory Tracking Control and Improved Artificial Potential Field Method Article Swipe
In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ability to quickly plan a collision-free smooth trajectory curve. This article constructs the kinematic model of the mobile robot, designs a dual-loop trajectory tracking control strategy for position control law and attitude control law algorithms, and improves the traditional artificial potential field method to achieve a good obstacle avoidance strategy for mobile robots. Based on the dual-loop trajectory tracking control and the improved artificial potential field method, the autonomous obstacle avoidance and trajectory planning scheme of the mobile robot is designed, and closed-loop stability verification and analysis are conducted on the overall control system. And through the detailed simulation and experiments, the advantages of the proposed method in trajectory tracking accuracy and motion stability compared to the existing methods are verified, showing good effectiveness and feasibility and laying a good foundation for the application of mobile robots in practical complex scenes.
Related Topics
Concepts
Trajectory
Obstacle avoidance
Mobile robot
Control theory (sociology)
Kinematics
Computer science
Robot
Obstacle
Collision avoidance
Control engineering
Motion planning
Tracking (education)
Field (mathematics)
Model predictive control
Artificial intelligence
Engineering
Control (management)
Collision
Mathematics
Law
Psychology
Pedagogy
Pure mathematics
Astronomy
Political science
Classical mechanics
Computer security
Physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/act13010037
- https://www.mdpi.com/2076-0825/13/1/37/pdf?version=1705498443
- OA Status
- gold
- Cited By
- 12
- References
- 38
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4390944607
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4390944607Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/act13010037Digital Object Identifier
- Title
-
Autonomous Obstacle Avoidance and Trajectory Planning for Mobile Robot Based on Dual-Loop Trajectory Tracking Control and Improved Artificial Potential Field MethodWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-01-17Full publication date if available
- Authors
-
Kunming ZhengList of authors in order
- Landing page
-
https://doi.org/10.3390/act13010037Publisher landing page
- PDF URL
-
https://www.mdpi.com/2076-0825/13/1/37/pdf?version=1705498443Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2076-0825/13/1/37/pdf?version=1705498443Direct OA link when available
- Concepts
-
Trajectory, Obstacle avoidance, Mobile robot, Control theory (sociology), Kinematics, Computer science, Robot, Obstacle, Collision avoidance, Control engineering, Motion planning, Tracking (education), Field (mathematics), Model predictive control, Artificial intelligence, Engineering, Control (management), Collision, Mathematics, Law, Psychology, Pedagogy, Pure mathematics, Astronomy, Political science, Classical mechanics, Computer security, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
12Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 6, 2024: 6Per-year citation counts (last 5 years)
- References (count)
-
38Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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