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In this paper, an integrated path planning and tube-following control schemeis proposed for collision-free navigation of a wheeled mobile robot (WMR) in acompact convex workspace cluttered with sufficiently separated sphericalobstacles. An analytical path planning algorithm is developed based onBouligand's tangent cones and Nagumo's invariance theorem, which enables theWMR to navigate towards a designated goal location from almost all initialpositions in the free space, without entering into augmented obstacle regionswith safety margins. We further construct a virtual "safe tube" around thereference trajectory, ensuring that its radius does not exceed the size of thesafety margin. Subsequently, a saturated adaptive controller is designed toachieve safe trajectory tracking in the presence of disturbances. It is shownthat this tube-following controller guarantees that the WMR tracks thereference trajectory within the predefined tube, while achieving uniformultimate boundedness of both the position tracking and parameter estimationerrors. This indicates that the WMR will not collide with any obstacles alongthe way. Finally, we report simulation and experimental results to validate theeffectiveness of the proposed method.

Collision-Free Navigation of Wheeled Mobile Robots: An Integrated Path Planning and Tube-Following Control Approach