View in EDS HTML Full Text PDF Full Text

Robust trajectory tracking and obstacle avoidance control for omnidirectional mobile robots.

Saved in:
Bibliographic Details
Title: Robust trajectory tracking and obstacle avoidance control for omnidirectional mobile robots.
Authors: Huang, He1 (AUTHOR), Liu, Haibin1 (AUTHOR) liuhb@bjut.edu.cn, Li, Mingfei1 (AUTHOR), Ren, Fujie1 (AUTHOR), Xia, Minghao2 (AUTHOR)
Source: Asian Journal of Control. May2026, Vol. 28 Issue 3, p1187-1198. 12p.
Subjects: Obstacle avoidance (Robotics), Robotic trajectory control, Robust control, Predictive control systems, Mobile robots, Potential field method (Robotics), Autonomous robots
Abstract: In environments with obstacles and uncertain disturbances, ensuring safe and robust control is critical for the reliable operation of autonomous robots. This paper presents a robust hierarchical control strategy based on nonlinear model predictive control (NMPC) to address these challenges. The strategy enables safe motion control of omnidirectional mobile robot (OMR) in complex environments. In the upper‐level planning module, the artificial potential field (APF) is incorporated into the NMPC objective function to generate collision‐free reference trajectories. The lower‐level tracking module computes the optimal nominal control and employs a tube‐based model predictive control (MPC) feedback strategy to enhance robustness against disturbances. Simulation results confirm that the proposed approach successfully plans safe obstacle‐avoiding trajectories while achieving high precision and robust trajectory tracking. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
Full text is not displayed to guests.
FullText Links:
  – Type: pdflink
Text:
  Availability: 1
Header DbId: egs
DbLabel: Engineering Source
An: 193710623
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
Items – Name: Title
  Label: Title
  Group: Ti
  Data: Robust trajectory tracking and obstacle avoidance control for omnidirectional mobile robots.
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Huang%2C+He%22">Huang, He</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Liu%2C+Haibin%22">Liu, Haibin</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> liuhb@bjut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Li%2C+Mingfei%22">Li, Mingfei</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Ren%2C+Fujie%22">Ren, Fujie</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Xia%2C+Minghao%22">Xia, Minghao</searchLink><relatesTo>2</relatesTo> (AUTHOR)
– Name: TitleSource
  Label: Source
  Group: Src
  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. May2026, Vol. 28 Issue 3, p1187-1198. 12p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Obstacle+avoidance+%28Robotics%29%22">Obstacle avoidance (Robotics)</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Predictive+control+systems%22">Predictive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Mobile+robots%22">Mobile robots</searchLink><br /><searchLink fieldCode="DE" term="%22Potential+field+method+%28Robotics%29%22">Potential field method (Robotics)</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+robots%22">Autonomous robots</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: In environments with obstacles and uncertain disturbances, ensuring safe and robust control is critical for the reliable operation of autonomous robots. This paper presents a robust hierarchical control strategy based on nonlinear model predictive control (NMPC) to address these challenges. The strategy enables safe motion control of omnidirectional mobile robot (OMR) in complex environments. In the upper‐level planning module, the artificial potential field (APF) is incorporated into the NMPC objective function to generate collision‐free reference trajectories. The lower‐level tracking module computes the optimal nominal control and employs a tube‐based model predictive control (MPC) feedback strategy to enhance robustness against disturbances. Simulation results confirm that the proposed approach successfully plans safe obstacle‐avoiding trajectories while achieving high precision and robust trajectory tracking. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=193710623
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1002/asjc.3726
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 12
        StartPage: 1187
    Subjects:
      – SubjectFull: Obstacle avoidance (Robotics)
        Type: general
      – SubjectFull: Robotic trajectory control
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Predictive control systems
        Type: general
      – SubjectFull: Mobile robots
        Type: general
      – SubjectFull: Potential field method (Robotics)
        Type: general
      – SubjectFull: Autonomous robots
        Type: general
    Titles:
      – TitleFull: Robust trajectory tracking and obstacle avoidance control for omnidirectional mobile robots.
        Type: main
  BibRelationships:
    HasContributorRelationships:
      – PersonEntity:
          Name:
            NameFull: Huang, He
      – PersonEntity:
          Name:
            NameFull: Liu, Haibin
      – PersonEntity:
          Name:
            NameFull: Li, Mingfei
      – PersonEntity:
          Name:
            NameFull: Ren, Fujie
      – PersonEntity:
          Name:
            NameFull: Xia, Minghao
    IsPartOfRelationships:
      – BibEntity:
          Dates:
            – D: 01
              M: 05
              Text: May2026
              Type: published
              Y: 2026
          Identifiers:
            – Type: issn-print
              Value: 15618625
          Numbering:
            – Type: volume
              Value: 28
            – Type: issue
              Value: 3
          Titles:
            – TitleFull: Asian Journal of Control
              Type: main
ResultId 1