Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Field and Its Application in Health Monitoring

Yuan Li, Hongkai Song, Yunfeng Ji and Lingling Zhang ()
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Yuan Li: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Hongkai Song: Equipment Assets Management Office, Shanghai Jian Qiao University, Shanghai 201306, China
Yunfeng Ji: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Lingling Zhang: Physical Education Department, Shanghai University of Finance and Economics, Shanghai 200433, China

Mathematics, 2024, vol. 12, issue 19, 1-19

Abstract: To enhance the navigation and control efficiency of mobile robots in the field of health monitoring, a novel path planning and control strategy for mobile robots with uncertain dynamics based on improved artificial potential fields is proposed in this paper. Specifically, we propose an attractive potential field rotation method to overcome the limitation that traditional artificial potential fields tend to fall into local minima. Then, we define a new class of attractive potential fields to address the goals non-reachable with obstacles nearby (GNRON) and collisions caused by excessive attractive force at long distances from the target point. Furthermore, a control law is proposed for the mobile robot with uncertain dynamics, and the stability of the closed-loop system is rigorously proven using the Lyapunov method. Finally, the feasibility and effectiveness of the proposed method are verified by simulations and experiments.

Keywords: path planning; obstacle avoidance; Lyapunov design; artificial potential field; mobile robot; health monitoring (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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