Design and development of novel control strategy for trajectory tracking of mobile robot: Featured with tracking error minimization

Abstract

In this paper, trajectory control of the mobile robot is implemented to minimise the trajectory tracking error. It was found that there is a challenging task to orient the robot for any trajectory path to be traced. A novel control strategy for two wheel drive robot is proposed to trace the path of a given trajectory. The control algorithm developed for differential drive robot to track trajectory is composed of Lyapunov controller and least mean square algorithm as an observer. The proposed control law for the kinematic model of a differential drive robot resulted in minimized trajectory tracking error. Also, the linear and non-linear trajectories can be tracked using the proposed control strategy.