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




Velocity field, Obstacle avoidance, Wheeled Mobile Robot (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.


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Simulation of the route followed by the vehicle from its initial position until reaching its desired trajectory.



How to Cite

García , L. A., Pérez Alcocer, R., & Ramos, G. (2023). Tracking control of a wheeled mobile robot in a velocity field with obstacle avoidance. REVISTA DE CIENCIAS TECNOLÓGICAS, 6(4), e266.