A Solution to Collinear Problem in Lyapunov-Based Control Scheme

Robots are widely used to carry out various tasks in different industries worldwide. The movement of a robot is necessary for any task accomplishment. While moving, a robot must prevent collisions with obstacles to reach its destination successfully. The motion control algorithm governs a robot’s movement. One such method is Lyapunov-based control scheme (LbCS). LbCS is a popular method for controlling a robot’s motion, but the technique suffers from a problem known as collinear. This problem occurs when a robot, an obstacle, and a target are in a linear position, which gets the method trapped into local minima. This paper tackles this problem using a heuristic-based method, ant colony optimization (ACO). The ACO will be activated when the LbCS gets trapped in local minima. This paper presents an algorithm, ACO-LbCS, that solves the collinear problem of LbCS. This hybrid algorithm has been strategically formulated using ACO and LbCS. The algorithm has been applied to multiple obstacle’s environment. The results show that the problem of local minima has been solved by the proposed algorithm.