Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance

Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance

Non-holonomic vehicles, that is, vehicles with movement constraints or unable to follow any desired path, are used in a wide range of activities, both in everyday life and in industrial environments. This paper presents a navigation strategy for unicycle-type vehicles based on velocity potential fie...

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Autors principals: García , Luis Arturo, Pérez Alcocer, Ricardo, Ramos, Gilberto
Format: Online
Idioma:spa
Publicat: Universidad Autónoma de Baja California 2023
Accés en línia:https://recit.uabc.mx/index.php/revista/article/view/266
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spelling recit-article-2662024-02-13T02:55:52Z Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance Control de seguimiento de robot móvil rodante en campo de velocidad con evasión de obstáculos García , Luis Arturo Pérez Alcocer, Ricardo Ramos, Gilberto Velocity field Obstacle avoidance Wheeled Mobile Robot (WMR). Campos potenciales de velocidad Evasión de obstáculos Robot móvil rodante (WMR). Non-holonomic vehicles, that is, vehicles with movement constraints or unable to follow any desired path, are used in a wide range of activities, both in everyday life and in industrial environments. This paper presents a navigation strategy for unicycle-type vehicles based on velocity potential fields. The validation of the navigation strategy was carried out using numerical simulation and experiments on the test platform. The results obtained demonstrate that the studied method fulfills the assigned task. Los vehículos no holonómicos, es decir, aquellos vehículos que tienen restricciones de movimiento o no pueden seguir cualquier trayectoria deseada, son empleados en una amplia gama de actividades, tanto en la vida cotidiana como en ambientes industriales. En este trabajo se presenta una estrategia de navegación para vehículos tipo uniciclo, basada en campos potenciales de velocidad. La validación de la estrategia de navegación se realizó empleando simulación numérica y experimentos en la plataforma de prueba. Los resultados obtenidos muestran que el método estudiado cumple con la tarea asignada. Universidad Autónoma de Baja California 2023-10-25 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion application/pdf text/html application/zip https://recit.uabc.mx/index.php/revista/article/view/266 10.37636/recit.v6n4e266 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 6 No. 4 (2023): October-December; e266 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 6 Núm. 4 (2023): Octubre-Diciembre; e266 2594-1925 spa https://recit.uabc.mx/index.php/revista/article/view/266/494 https://recit.uabc.mx/index.php/revista/article/view/266/495 https://recit.uabc.mx/index.php/revista/article/view/266/496 Copyright (c) 2023 Luis Arturo García , Ricardo Pérez Alcocer, Gilberto Ramos https://creativecommons.org/licenses/by/4.0
institution RECIT
collection OJS
language spa
format Online
author García , Luis Arturo
Pérez Alcocer, Ricardo
Ramos, Gilberto
spellingShingle García , Luis Arturo
Pérez Alcocer, Ricardo
Ramos, Gilberto
Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
author_facet García , Luis Arturo
Pérez Alcocer, Ricardo
Ramos, Gilberto
author_sort García , Luis Arturo
title Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
title_short Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
title_full Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
title_fullStr Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
title_full_unstemmed Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
title_sort tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance
description Non-holonomic vehicles, that is, vehicles with movement constraints or unable to follow any desired path, are used in a wide range of activities, both in everyday life and in industrial environments. This paper presents a navigation strategy for unicycle-type vehicles based on velocity potential fields. The validation of the navigation strategy was carried out using numerical simulation and experiments on the test platform. The results obtained demonstrate that the studied method fulfills the assigned task.
publisher Universidad Autónoma de Baja California
publishDate 2023
url https://recit.uabc.mx/index.php/revista/article/view/266
_version_ 1792095383853203456

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