{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T21:58:25Z","timestamp":1766181505613,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,9,18]],"date-time":"2020-09-18T00:00:00Z","timestamp":1600387200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ruizhen Gao","award":["1328103077-2, 1521109072-5"],"award-info":[{"award-number":["1328103077-2, 1521109072-5"]}]},{"name":"Jingjun Zhang","award":["F2017402182"],"award-info":[{"award-number":["F2017402182"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents an obstacle-avoidance trajectory tracking method based on a nonlinear model prediction, with a dynamic environment considered in the trajectory tracking of nonholonomic mobile robots for obstacle avoidance. In this method, collision avoidance is embedded into the trajectory tracking control problem as a nonlinear constraint of the position state, which changes with time to solve the obstacle-avoidance problem in dynamic environments. The CasADi toolkit was used in MATLAB to generate a real-time, efficient C++ code with inequality constraints to avoid collisions. Trajectory tracking and obstacle avoidance in dynamic and static environments are trialed using MATLAB and CasADi simulations, and the effectiveness of the proposed control algorithm is verified.<\/jats:p>","DOI":"10.3390\/robotics9030074","type":"journal-article","created":{"date-parts":[[2020,9,18]],"date-time":"2020-09-18T10:22:23Z","timestamp":1600424543000},"page":"74","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Research on Trajectory Tracking and Obstacle Avoidance of Nonholonomic Mobile Robots in a Dynamic Environment"],"prefix":"10.3390","volume":"9","author":[{"given":"Kai","family":"Zhang","sequence":"first","affiliation":[{"name":"College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruizhen","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingjun","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"341","DOI":"10.3844\/jcssp.2008.341.344","article-title":"A Mobile Robot Path Planning Using Genetic Algorithm in Static Environment","volume":"4","author":"Ismail","year":"2008","journal-title":"J. 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