Two-wheeled mobile robot motion control in dynamic environments |
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| Authors: | M. Deng A. InoueK. Sekiguchi L. Jiang |
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| Affiliation: | Graduate School of Natural Science and Technology, Okayama University 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan |
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| Abstract: | In this paper, a feedback control scheme of a two-wheeled mobile robot is explored in dynamic environments. In the existence of local minima, the design of controller is based on Lyapunov function candidate and considers virtual forces information including detouring force. Simulation results are presented to show the effectiveness of the proposed control scheme. |
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| Keywords: | Local minima Obstacle Motion control Mobile robot |
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