КОНФЕРЕНЦІЇ ВНТУ електронні наукові видання, 
Перспективи розвитку машинобудування та транспорту-2025

Розмір шрифта: 
Adaptive Trajectory Control for Mobile Robots in Dynamic Environments
Zhanbubi Erzhanovna Karataeva, Sadraddin Abdukarimovich Abdukarimov, Zulfia Azimkhanovna Zhumabekova, Muratkali Abenovich Zhamanbayev

Остання редакція: 2025-06-11

Анотація


This paper presents an adaptive trajectory control system for mobile robots operating in dynamic and uncertain environments. The proposed method combines path planning with real-time trajectory adjustments based on sensor feedback, enabling robots to safely and efficiently navigate around moving obstacles. A layered control architecture is implemented using fuzzy logic and PID regulators to balance global trajectory adherence with local reactive behaviors. Simulation results demonstrate the system’s ability to maintain stability and path accuracy under various disturbances and environment changes.

Ключові слова


adaptive control, mobile robot, trajectory tracking, dynamic environment, fuzzy-PID, obstacle avoidance, real-time navigation

Посилання


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