Trajectory tracking control of a laser-guided wheeled mobile robot

Abstract

This paper develops methodology and technique for design and implementation of a path tracking control of a wheeled mobile robot using a retroflective laser scanner. A fuzzy extended information filtering scheme is presented to process the measurements to obtain the best estimates of the current position and orientation of the robot. A globally nonlinear and asymptotically stable kinematic path tracking control is developed to steer the vehicle to follow the desired trajectories without errors. Computer simulations and experimental results are performed to illustrate the feasibility and effectiveness of the proposed self-localization and control methods.