Nonlinear Control System of Mobile Robot for Avoiding Obstacles

The paper describes the problem of creation of a tracked mobile robot nonlinear control system to be able to move in an environment with obstacles. To solve the problem, a method of mobile robots adaptive control is proposed. The method uses attractor and repeller manifolds. The essential feature of the proposed method is the ability to provide stable operations of mobile robots avoiding obstacles to the desire position, therefor keeping to a safety trajectory. The paper presents a mathematical model of a mobile robot taking into account the nonlinearity of characteristics of the control object. To demonstrate the effectiveness of the developed nonlinear control system, a computer simulation was carried out.