Adaptive path following control of car-like mobile robot using dynamic model

Abstract

This paper addresses the path following control of car-like mobile robots. A nonlinear dynamic model is proposed which explicitly combines the kinematic constraints and car-like mobile dynamics. The wheel side-slip friction forces are take into account which exist in massive or high-speed vehicles or mobile robots. Adaptive backstepping control is designed to solve path following problem as wheel as compensating the side-slip friction uncertainties. Simulation results clearly demonstrate the advantages and effectiveness of the proposed method.