Trajectory tracking of a nonholonomic wheeled mobile robot

摘要

A model was developed to describe a nonholonomic system trajectory of a wheeled mobile robot.Kinematic models were developed for several typical robots from the definition of the nonholonomic constraint and the system characteristics.The system controller design was based on a control Lyapunov function(CLF).The kinematics models for two and three wheel robots with the nonholonomic constraint were developed in Matlab/Simulink.Simulations of a robot controller designed to track a circular path show that the trajectory tracking controller is very steady.The characteristics of both kinds of robots are represented by trajectory path curves.