Trajectory tracking control of wheeled mobile robots based on integrated intelligent steering

摘要

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, the paper presents an adaptive trajectory tracking method based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the idea of the single point preview is introduced to the method to improve the effect of trajectory tracking, as well as an artificial field is combined with posture error to navigate the mobile robot. The structure of the control rule is simple and robust. Computer simulations indicate the method makes the approaching trajectory of the mobile robot becomes more perfect.