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Indexed by:期刊论文

Date of Publication:2021-01-10

Journal:INFORMATION TECHNOLOGY AND CONTROL

Volume:49

Issue:3

Page Number:320-334

ISSN No.:1392-124X

Key Words:Wheeled inverted pendulum (WIP) vehicle; nonholonomic constraint; underactuated characteristic; improved artificial potential field (IAPF); fuzzy logic; multi-obstacle environment

Abstract:This paper presents a control method for a WIP vehicle in multi-obstacle environment based on the improved artificial potential field. Firstly, an improved artificial potential field (IAPF) is developed, where a safe distance is introduced to the existing repulsive potential field to solve the security issue, while the probable local minima caused by the obstacle around the target can also be eliminated simultaneously. Next, an obstacle avoidance controller is designed based on the IAPF, where the nonholonomic constraint and underactuated characteristic of the WIP vehicle are fully considered, and the stability condition of the system is analyzed by means of the related control theory. Moreover, to further improve the control performance, a key parameter that play an important role in the controller is adjusted by taking advantage of fuzzy logic, and detailed analyses are given to demonstrate its necessity and effectiveness. Finally, considering a motion environment that contains dense obstacles, narrow corridor and an obstacle near the target, numerical simulations are conducted to validate the proposed method, whose results indicate that the method has a good performance to control the WIP vehicle in multi-obstacle environment.