Trajectory tracking and obstacle avoidance of a mobile robot based on vector field

In this paper a Lyapunov theory based controller is designed for a mobile robot to track a give reference trajectory. The proposed controller guarantees tracking errors asymptotically approach zero for any reference path. The trajectory planning has been achieved using vector field framework. The robots may encounter obstacles in its path and obstacle avoidance has also been incorporated. This is achieved by modified vector field. From extensive simulations it is seen that the mobile robot is capable of tracking any trajectory and safely avoids the obstacles in its way.