Path tracking control of mobile robots using a quadratic curve

Abstract

This paper describes a path tracking method for power wheeled steering mobile robots (PWS). In the traditional method for moving a mobile robot along a desired path, state variables of a robot (position and orientation) are controlled. But we think that only the position must be controlled in path tracking because orientation comes close to a correct value in the motion along the desired path. We propose a new path tracking method based on this idea and show the performance of this algorithm by simulation and experimental results.