Autonomous wheeled mobile robot maneuvering in constraint environment. Trajectory tracking quality criteria

In this article the problem of control system synthesis for differential drive wheeled mobile robots operating within constraint environment is considered. The proposed approaches of solving trajectory tracking problem take into account the geometric features of both the robot and the transported cargo. The collision avoidance problem is solved at the controller level, without any changes to the planned trajectory. Three approaches are proposed: minimizing the distance to the trajectory, minimizing the distance to the reference position, and maximizing the distance to obstacles. In these approaches the constant analysis of position of each point of robot's body outline contour is used. Negative influence of the position of these points on qualitative trajectory pass is represented in vector form. For each of the approaches formalized tracking quality criteria are determined, methods of implementation of control systems and controllers taking into account these criteria are proposed. The part of the control signal responsible for taking into account geometry of the robot and avoiding collisions is defined via the force-moment vector representation. Results of simulation modeling prove the efficiency of the proposed approaches. A comparison of the proposed approaches is presented. Potential ways of more efficient use of these approaches are given.