Tracking Control of Mobile Robots based on Rhombic Input Constraints

Abstract

This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.