A Specified Time Obstacle Avoidance Control Strategy for Wheeled Mobile Robots

In this paper, we study the specified time obstacle avoidance problem of a wheeled mobile robot with non-holonomic constraints. The obstacle avoidance problem is necessary to be considered when the robot is moving in complex environments. After establishing the kinematics model of a wheeled mobile robot and analyzing the system containing the robot and obstacles, we design appropriate angular velocity of the mobile robot to make the attitude of the robot track a desired direction. Then we use the time-rescaling approach and modify the angular velocity to achieve the obstacle avoidance task in a reasonable time specified in advance. Finally, numerical simulations are carried out and the results verify the effectiveness of the proposed strategy.