An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot

A robot with two independent driving wheels is used popularly as a service robot. Therefore, there is a lot of research on the autonomous locomotion. The robot with two independent driving wheels has a nonholonomic constraint in its model, so that it needs a specific control method when controlling it. In this research, we use an invariant manifold for solving such a nonholonomic constraint. The controller based an invariant manifold can converge the state of the controlled object to an arbitrary target position. In addition, it can also move taking account of an obstacle position by combining it with the gradient of “harmonic potential field” (HPF). On the other hand, it was confirmed in the previous research that there is the case that the robot cannot avoid the obstacle because there are not enough space to converge the state to the target state. In this paper, it is verified that the robot can converge to the target position while avoiding obstacles by dividing the target position into some pieces and moving step by step.