Real-time Obstacle Avoidance of a Two-wheeled Mobile Robot via Minimum Projection Method

Abstract

This paper considers a real-time obstacle avoidance control problem of a two-wheeled nonholonomic mobile robot. In this research, we propose a discontinuous asymptotic stabilizing state feedback control law for the problem via the minimum projection method. The proposed method does not need path planning. Hence, the computational cost is reduced. Moreover, the method theoretically guarantees the asymptotic stability of the system. Owing to these advantages, we can redesign the control law in real-time depending on the location and the size of the obstacle. Therefore, the method can be used as a control law for searching unknown space. The effectiveness of the method is confirmed by experiments using a two-wheeled mobile robot, Khepera 2.