Integration of RRT* Path Planning with Trajectory Tracking for Wheeled Mobile Robot

カテゴリ: 部門大会

論文No: TC10-4

グループ名: 【C】2022年電気学会電子・情報・システム部門大会

発行日: 2022/08/24

タイトル(英語): Integration of RRT* Path Planning with Trajectory Tracking for Wheeled Mobile Robot

著者名: Oum Sotheara（カンボジア工科大学）,Srang Sarot（カンボジア工科大学）,Yonrith Phayuth（カンボジア工科大学）

著者名(英語): Sotheara Oum (Institute of Technology of Cambodia),Sarot Srang (Institute of Technology of Cambodia),Phayuth Yonrith (Institute of Technology of Cambodia)

キーワード: Non-holonomic mobile robot|Path Planning|RRT Algorithm|Trajectory Tracking|Backstepping Control

要約(日本語): Mobile robots have been around since the late 1960s. In the last decade, the applications of mobile robots are being applied in various sectors unleashing more benefits of automation and robotics to be captured to their maximum potential by mankind. This paper presents an integrated path planning and trajectory tracking control framework for wheeled mobile robots allowing the robots to find the lowest-cost path while avoiding obstacles within a short computational time and move towards their goal by combining the RRT* path planning with Backstepping control. The performance of this integrated framework is validated through numerical simulation in MATLAB Simulink based on a two wheels mobile robot model which is a non-holonomic system subject to known static environmental obstacles.