Collision Avoidance with Artificial Potential Function for Two-Wheeled Mobile Robot Tracking Desired Trajectory

In this paper comparison of two trajectory tracking algorithms for mobile robots is presented. In the first method [2] linear feedback control law was designed using linearized model of the robot. In the second method [5] linear part was extended by adding nonlinear persistent excitation block responsible for the convergence of the position in the direction transverse to the main axis of the robot. In this paper authors concentrate on extension of these two control methods by collision avoidance behavior implemented using Artificial Potential Functions (APF). For both methods stability analysis is presented. Numerical simulations illustrate effectiveness of the algorithms.