An adaptive trajectory tracking control of wheeled mobile robots

Abstract

An adaptive trajectory tracking method based on the kinematics model is proposed in this paper to solve the non-holonomic restriction problem of trajectory tracking of the wheeled mobile robot. After analyzing the course statement of the trajectory tracking control, the idea of the artificial field is introduced to improve the effect of the trajectory tracking, which takes the posture error of the robot into account to navigate the mobile robot. With the analysis of the controller's uniformly asymptotically stability and the simulations in MATLAB, the controller is proven to be practical and effective.