Artificial potential field based anti-saturation positioning obstacle avoidance control for wheeled robots

Abstract This paper studies the anti-saturation positioning and obstacle avoidance control of wheeled robots. First, by modifying the existing control law based on the kinematics model, a continuous function is proposed to overcome the velocity saturation problem, then the positioning control law ensuring the continuity and avoiding chattering phenomenon caused by switching control is proposed. Afterwards, a Gaussian function and a switching function are introduced to guarantee the smoothness of the artificial potential field function, and the positioning obstacle avoidance control law based on Barrier Lyapunov Function is constructed to reach the target point more stably. Finally, the effectiveness and practicability of the control algorithm are verified by simulations.