Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance separately.Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult.To address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)framework.Specifically,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.This formulation guarantees rapid convergence and simultaneous chattering elimination.By introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention.Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.