Research On Trajectory Tracking And Obstacle Avoidance Control Of Nonholonomic Wheeled Mobile Robots

With the development of modern electromechanical technology,mobile robots,as a combination of electromechanical technology,are the hotspot in the research of electromechanical integration technology.Trajectory tracking is an important research direction of mobile robots.Because of its simple structure and flexible motion,nonholonomic wheeled mobile robots have become the most widely used type of mobile robots.Trajectory tracking control is the focus of mobile robot research,which has important theoretical value and practical significance.In this paper,the trajectory tracking and obstacle avoidance of nonholonomic wheeled mobile robots are studied by using model predictive control technology,adaptive control technology and Lyapunov stability theory.Firstly,aiming at the motion control model of mobile robot trajectory tracking,the model predictive control law is obtained by using the nonlinear model predictive optimization control method,and the trajectory tracking control law is obtained by using the model predictive control optimization method directly,and the validity of the two methods is verified by calculating the open source toolbox CasADi.Secondly,aiming at the obstacle avoidance problem of trajectory tracking motion control,based on the trajectory tracking control law obtained by linear model predictive control,the obstacle avoidance control law is designed by further setting the safe obstacle avoidance area.Moreover,the trajectory tracking and obstacle avoidance controller is designed by combining the trajectory tracking and potential function obstacle avoidance method of adaptive control.Finally,the validity of model predictive control and adaptive control is verified by simulation.