Analysis of Trajectory Tracking Control Algorithms for Wheeled Mobile Robots

Abstract

Trajectory tracking is a key component of autonomous robot navigation. Trajectory tracking control algorithms control the robots effectively to track the desired trajectory that is predetermined by the trajectory planning module. Since the control performance changes significantly depending on the scenarios, choosing an appropriate controller is a nontrivial task. A simulation study of trajectory tracking controllers for non-holonomic mobile robots is presented in this work. All the control algorithms are simulated and compared on a two wheeled differential drive mobile robot. The control algorithms are implemented on MATLAB/SIMULINK 2020a and the performance of control algorithms is evaluated by tracking circular trajectory as the reference trajectory.