Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring
Abstract
:1. Introduction
- A class of attractive potential fields is tailored to address the GNRON problem and to circumvent collisions caused by excessive attraction at considerable distances from the target point, thereby ensuring the safety of the intended trajectory.
- The issue of mobile robots falling into local minima is handled by the proposed attractive potential field rotation method.
- An adaptive controller is employed for a mobile robot with unknown inertial parameters and dynamic system perturbations. The stability of the closed-loop system and the boundedness of the estimation error are proven using the Lyapunov stability theory. The effectiveness and feasibility of the proposed planning and control strategy are then validated through simulations and experiments.
2. Preliminaries and Problem Statement
Kinematic and Dynamic Models
3. Path Planning and Control Strategy Design for Mobile Robots with Uncertain Dynamics
3.1. Traditional Artificial Potential Field Method
3.2. Improved Attractive Potential Field
3.3. Attractive Potential Field Rotation Method
3.4. Controller Design
3.5. Flowchart and Pseudo-Code of the Method
Algorithm 1 Pseudo-code of the attractive potential field rotation method |
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4. Simulations and Experimental Validation
4.1. Simulation Results and Analysis
4.2. Experimental Results and Analysis
5. Discussion
6. Conclusions and Future Work
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter | ||||
Value | 0.3 | 10,000 | 20 |
Method | Number of Successes | Number of Collisions and Timeouts | Average of Path Lengths for Successful Cases (Meters) | Standard Deviation of Path Lengths for Success Cases (Meters) |
---|---|---|---|---|
TAPF | 30 | 70 | 149.42 | 4.91 |
RT-APF | 44 | 56 | 158.96 | 5.92 |
RI-APF | 91 | 9 | 156.24 | 5.66 |
Parameter | |||||||
Value | 3 | 100 | 1 | 3 | 1 | 5 |
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Li, Y.; Song, H.; Ji, Y.; Zhang, L. Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring. Mathematics 2024, 12, 2965. https://doi.org/10.3390/math12192965
Li Y, Song H, Ji Y, Zhang L. Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring. Mathematics. 2024; 12(19):2965. https://doi.org/10.3390/math12192965
Chicago/Turabian StyleLi, Yuan, Hongkai Song, Yunfeng Ji, and Lingling Zhang. 2024. "Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring" Mathematics 12, no. 19: 2965. https://doi.org/10.3390/math12192965
APA StyleLi, Y., Song, H., Ji, Y., & Zhang, L. (2024). Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring. Mathematics, 12(19), 2965. https://doi.org/10.3390/math12192965