Wheeled mobile robots (WMRs) are extensively used in many applications, including agricultural fields. The development of the Internet of Things (IoT), computer vision, and artificial intelligence has led to significant advancements in WMRs control. When operating in industrial environments, WMRs often need to follow a predefined path, known as tracking. Additionally, to ensure the safety of the system, WMRs must avoid collisions when operating in dynamic environments, which is of primary importance. To achieve both safety and tracking, we employ a flatness-based integral sliding mode algorithm (FBISMA) and integrate it with a control barrier function (CBF) to ensure both objectives are met. Furthermore, a qualitative and quantitative comparison is conducted with existing algorithms by incorporating real-world scenario to demonstrate improvements in quality control performance, as validated through numerical simulations.
Rehman et al. (Fri,) studied this question.