Navigation and trajectory tracking of mobile robot based on kinematic PI controller

Abstract

In last few years there has been a growing interest in trajectory tracking and mobile robot navigation. In this paper, an effective design of a PI (Proportional Integral) controller to resolve two tasks ‘going to target’ and ‘following a trajectory’ is developed. This controller is designed to adjust the motor velocities of our considered platform (Khepera II). The responses of the robot controller in navigation and tracking have been obtained and graphically presented. The effectiveness of the proposed methodology is discussed.