Sensor Fusion Based Intelligent Motion Control for Nonholonomic Wheeled Mobile Robots

ABSTRACT This paper presents a sensor fusion based intelligent motion control scheme for nonholonomic wheeled mobile robots under unstructured environments. The proposed scheme is composed of path planning and tracking control modules, considering kinematic constraints in steering control of nonholonomic vehicles. First, the path planning module generates an obstacle-free short path as a sequence of control vectors of orientation using a genetic algorithm. Then, the tracking control module produces the references for steering control using a sensor fusion network. Simulations of path planning and preliminary experiments with internal and external sensors are presented to show the effectiveness of the proposed control scheme