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This paper focuses on developing and synthesizing robust control and trajectory planning for the QBot-2e mobile robot, with the aim of ensuring stability and real-time tracking of the reference trajectory. It addresses critical challenges encountered in search and rescue missions, including dynamic stability limits, the effects of disturbances during trajectory planning, and navigating through complex and unpredictable environments. The proposed control method is based on the Backstepping technique, ensuring the robot can effectively track the planned trajectory while avoiding obstacles and maintaining operational reliability in critical situations. Several experiments under realistic conditions, demonstrate the effectiveness of these control techniques for the mobile robot.

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Advanced Backstepping Control Strategies for Improved Mobile Robot Navigation

  • 会议论文

  • 发表日期：

    2026年

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  • Aimen Abdelhak Messaoui,
  • Souhila Benmansour,
  • Fethi Demim,
  • Benghezal Amar,
  • Ali Zakaria Messaoui,
  • Sofiane Bououden,
  • Yasmine Saidi,
  • Abdennour Seghier,
  • Farouk Kalla,
  • Abdenebi Rouigueb,
  • Abdelkrim Nemra

摘要

This paper focuses on developing and synthesizing robust control and trajectory planning for the QBot-2e mobile robot, with the aim of ensuring stability and real-time tracking of the reference trajectory. It addresses critical challenges encountered in search and rescue missions, including dynamic stability limits, the effects of disturbances during trajectory planning, and navigating through complex and unpredictable environments. The proposed control method is based on the Backstepping technique, ensuring the robot can effectively track the planned trajectory while avoiding obstacles and maintaining operational reliability in critical situations. Several experiments under realistic conditions, demonstrate the effectiveness of these control techniques for the mobile robot.