Mobile Robot Navigation using State-Constrained Sliding Mode Control

Abstract

The mobile robot navigation from a given source to destination needs to address collision with nearby obstacles as well as motion constraints. This work attempts to integrate the planning and control of navigation using robust controller designed to cater for state constraints. When a navigation query is presented, we propose to generate intermediate waypoints by exploring the state constraining properties of the controller. The state constraints are described to avoid collisions on course to the destination point and motion constraints of the unicycle model of mobile robot. The approach addresses methods to stabilize the mobile robot with a desired orientation at a target point. The proposed algorithm then allows us to perform multiple waypoint traversal manoeuvres through the intermediate target waypoints that are generated based on the navigation query that is presented. The proposed technique is validated through numerical simulation results.