scholarly journals Integrated path planning and trajectory tracking control for quadrotor UAVs with obstacle avoidance in the presence of environmental and systematic uncertainties: Theory and experiment

2021 ◽  
pp. 107277
Author(s):  
Ban Wang ◽  
Youmin Zhang ◽  
Wei Zhang
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Systematic Uncertainties ◽  
Quadrotor Uavs ◽  
Theory And Experiment

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

scholarly journals Trajectory Tracking Control of an Aerial Robot with Obstacle Avoidance

2015 ◽  
Vol 48 (19) ◽  
pp. 81-86
Author(s):  
Ícaro Bezerra Viana ◽  
Igor Afonso Acampora Prado ◽  
Davi Antonio dos Santos ◽  
Luiz Carlos Sandoval Góes
Keyword(s):  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Aerial Robot
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