Speed control system in mobile robot based on Bezier curve trajectory

Abstract

Abstract The development of robot technology is currently growing rapidly. Mobile robot is one robot with many applications in everyday life. One of the important things in the field of mobile robots is the problem of trajectories or trajectories, in this case how robots can track approved paths. In this study, the mobile robot control system has been tested to track tracks. The path used in this study is the third-order Bezier Order, with control points and end points of the predetermined pathway. Based on the results of simulation tests on the development of mobile robot trajectories, based on the results of simulation tests on mobile robots, it is found that the performance of the track tracking control system is very dependent on the placement of the Bezier curve control points or in other words the actual path formed by the robot is greatly influenced by the shape of the Bezier trajectory that was designed.