Behavior-based path planning and tracking control of a nonholonomic mobile robot

A neural dynamics based approach to real-time path planning and tracking control is proposed in this paper for mobile robot navigation. A collision-free reference position is generated in real time for a point robot by a local behavior-based neural dynamics based path planner. The proposed tracking controller is based on neural dynamics and nonlinear feedback techniques. The nonholonomic constraint of the mobile is considered in the proposed tracking controller. The mobile robot is capable of avoiding the deadlocks, and generating a smooth path and velocity without suffering from any speed jumps that exists in the typical nonlinear feedback tracking controllers.