Obstacle Avoidance and Control of Swedish Wheeled Mobile Robot

Abstract

The main focus of this work is on obstacle avoidance and trajectory tracking of Swedish wheeled omnidirectional mobile robot. The proposed obstacle avoidance algorithm takes information from its onboard sensors and modulates trajectory such that the robot moves towards the goal, having maximum distance from the obstacles and minimum deviation from the trajectory. The proposed trajectory tracking controller is formulated based on linear model predictive control (MPC). The motivation of the use of linear MPC is its less computational cost relative to the nonlinear MPC. Realistic simulations are performed to test the validity and performance of the proposed obstacle avoidance algorithm and the trajectory tracking controller.