Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while moving towards a specified goal position play a crucial role in determining the required control effort and complexity. In this paper, we consider a standard unicycle control approach based on angular feedback linearization and provide an explicit analytical measure for determining the total turning effort during unicycle control in terms of unicycle state and control gains. We show that undesired spiral oscillatory motion around the goal position can be avoided by choosing a higher angular control gain compared to the linear control gain. Accordingly, we establish an accurate, explicit triangular motion range bound on the closed-loop unicycle trajectory using the total turning effort. The improved accuracy in motion range prediction results from a stronger dependency on the unicycle state and control parameters. To compare alternative circular, conic, and triangular motion range prediction approaches, we present an application of the proposed unicycle motion control and motion prediction methods for safe unicycle path following around obstacles in numerical simulations.

翻译：安全且平滑的运动控制对于移动机器人在障碍物周围执行各种自动化任务至关重要，尤其是在存在人员和其它移动机器人的环境中。移动机器人向指定目标位置运动时的总转向及所需空间，对控制复杂度与能耗具有决定性影响。本文基于角反馈线性化方法研究标准独轮车控制策略，通过独轮车状态与控制增益的显式解析量，提出总转向能耗的精确计算公式。研究表明，选择高于线性控制增益的角控制增益可避免目标位置附近不必要的螺旋振荡运动。据此，利用总转向能耗建立闭环独轮车轨迹的精确显式三角运动范围边界。该运动范围预测精度的提升源于对独轮车状态与控制参数更强的依赖性。为对比圆形、锥形及三角形运动范围预测方法，本文通过数值仿真将所提运动控制与运动预测方法应用于绕障安全路径跟踪。