Controllers for trajectory tracking and string-like formation in Wheeled Mobile Robots with bounded inputs

摘要

This study presents simple controllers for achieving trajectory tracking for the kinematic model of a Wheeled Mobile Robots (WMRs) with bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. The underlying tracking controller can be applied to control a group of WMRs, in particular for achieving a string-like formation.