Mobile Robot Trajectory Tracking and Motion Control

Abstract

According to the wheeled mobile robots are influenced by the environmental factor in practice.Using the extended Kalman filter(EKF) algorithm fusion odometry and laser radar observation data,correction information of the reference trajectory of the robot.Comparison with the discrete Kalman filter.Based on the robot dynamic model,using the Lyapunov direct method to construct a globally asymptotically stable tracking controller,control the robot movement of the angular velocity,speed,met the requirement of the state of the robot's posture.Based on Lyapunov stability theorem to prove the global stability of the system.Simulation results and experimental verification show that the tracking controller,which combined with(EKF)data filtering algorithm and Lyapunov method is effective.