Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple maneuvering modes

作     者：Xiaolong ZHANG Yu HUANG Shuting WANG Gen LI Yuanlong XIE Wei MENG Xiaolong ZHANG;Yu HUANG;Shuting WANG;Wei MENG;Gen LI;Yuanlong XIE

作者机构：School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China School of Information EngineeringWuhan University of TechnologyWuhan 430070China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2021年第16卷第3期

页      面：504-527页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：The work was funded in part by the Guangdong Major Science and Technology Project,China(Grant Nos.2019B090919003 and 2017B090913001) in part by the China Postdoctoral Science Foundation(Grant No.2019M650179) in part by the Guangdong Innovative and Entrepreneurial Research Team Program,China(Grant No.2019ZT08Z780) in part by the Dongguan Innovative Research Team Program,China(Grant No.201536000100031) in part by the Guangdong HUST Industrial Technology Research Institute,Guangdong Provincial Key Laboratory of Manufacturing Equipment Digitization,China(Grant No.2020B1212060014) 

主　　题：mobile robot multiple maneuvering mode motion planning tracking control receding horizon control 

摘      要：Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots(FWIDSMRs)due to the flexible allocation of multiple maneuver *** address this problem,this study proposes a novel multiple mode-based navigation system,which can achieve efficient motion planning and accurate tracking *** reduce the calculation burden and obtain a comprehensive optimized global path,a kinodynamic interior-exterior cell exploration planning method,which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm,is *** utilizing the sampled subgoals and the constructed global path,local planning is then performed to avoid unexpected obstacles and potential *** the desired profile curvature and preselected mode,a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following *** tracking controller design is achieved using the quadratic programming(QP)technique,and the primal-dual neural network optimization technique is used to solve the QP *** results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.