Path-generating regulator along a straight passage for two-wheeled mobile robots

Abstract

In this paper, the path-generating regulator is extended to tracking problem along a straight passage for two-wheeled mobile robots. As most of mobile robots are with nonholonomic constraints, it is difficult for us to make them converge to the target state with a control law. To solve this problem, many methods have been proposed. One of them is Path-generating Regulator(PGR) which designs a nonlinear regulator carrying out asymptotic convergence to a given trajectory family. However, the original method is not well suited for passages. In this paper, we will present the extended PGR for the tracking problem along a straight passage. Numerical simulations and experiments are also performed to show the effectiveness of this method.