Raouf Fareh, Tamer Rabie, Said Grami and Mohammed Baziyad
Mobile robot, path planning, kinematic control, probabilistic roadmap, obstacle avoidance, trajectory tracking
This paper presents a vision-based kinematic tracking control strategy for a differential wheeled mobile robot using an enhanced probabilistic roadmap (PRM) algorithm. The system consists of three main phases. The first phase is the information gathering phase using vision techniques. In the second phase, a free-obstacle path is generated using an enhanced-PRM algorithm. Finally, a Lyapunov velocity-tracking controller is developed to track the path generated from the previous phase by adjusting the forward and rotational velocity of the robot. The closed-loop stability is proved using Lyapunov technique. The control strategy is tested on a Pioneer P3-DX differential wheeled mobile robot and an Xtion Pro RGB-depth camera to prove the effectiveness and efficiency of the proposed tracking system. These results are demonstrated at the end of the paper.
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