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  • 1Centro de Investigacion en Computacion del Instituto Politecnico Nacional, CIC-IPN, Ciudad de Mexico 07738, Mexico.

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Summary
This summary is machine-generated.

This study introduces a decentralized controller for autonomous mobile robots, enabling safe navigation and obstacle avoidance through trajectory tracking. The controller ensures stability and effective path following in dynamic environments.

Keywords:
autonomous navigationbio-inspired controldecentralized controlformationmulti-agent systemsreaction control

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Autonomous mobile robots require robust control for navigation and obstacle avoidance.
  • Decentralized control strategies offer advantages in scalability and fault tolerance for multi-robot systems.

Purpose of the Study:

  • To propose a novel decentralized controller for differential mobile robots.
  • To achieve autonomous navigation, trajectory tracking, and obstacle avoidance.
  • To ensure closed-loop stability using Lyapunov methods.

Main Methods:

  • Dynamic modeling integrating obstacle evasion, formation, and path-following forces.
  • Control loop as a dynamic extension of the kinematic model.
  • Lyapunov stability analysis for the non-collision case.

Main Results:

  • The proposed controller generates linear and angular velocities for the mobile robot.
  • Stability analysis confirmed the non-collision case using the Lyapunov method.
  • Experimental and simulation results validated the controller's performance and stability.

Conclusions:

  • The decentralized controller effectively enables autonomous navigation and obstacle avoidance for differential mobile robots.
  • The dynamic model extension ensures robust trajectory tracking and stability.
  • The approach is validated through simulations and real-world experiments.