In this paper, a novel algorithm for the problem of trajectory tracking when considering the obstacle avoidance in an unknown environment only using the measurements of the follower is presented. First of all, for the kinematic model, the problem of trajectory tracking is solved based on the measurements collected from the onboard sensors of the follower, and an algorithm with the rotating matrix is proposed to solve the problem of obstacle avoidance. Thereafter, the dynamic surface control is used in the dynamic model, and a low-pass filter is given to decrease the cost of computation. Meanwhile, the disturbance rejection of the closed-loop system is discussed for the existence of an unknown input disturbance. Compared with the existing results, the wireless communication and the leader’s velocity are no longer required in the entire control task, which makes it easier to implement in engineering. The results of both numerical simulation and physical experiments are given to verify and demonstrate the effectiveness of the proposed approaches.

本文提出了一种新的算法，该算法仅在跟随者的测量条件下考虑未知环境下的避障时的轨迹跟踪问题。首先，对于运动学模型，基于从随从者的机载传感器收集的测量值解决了轨迹跟踪问题，并提出了带有旋转矩阵的算法来解决避障问题。此后，在动态模型中使用动态表面控制，并给出一个低通滤波器以降低计算成本。同时，针对未知输入扰动的存在，讨论了闭环系统的扰动抑制。与现有结果相比，在整个控制任务中不再需要无线通信和领导者的速度，这使得在工程中更容易实现。数值模拟和物理实验的结果均被证实和证明了所提出方法的有效性。