Trajectory Tracking Control of the Wheeled Mobile Robot based on the Curve Tracking Algorithm

摘要

Abstract A controller based on the curve tracking algorithm is offered as a solution to the issue of the wheeled mobile robot’s trajectory not be precisely monitored. First, Utilizing a planar global coordinate system, the kinematics and dynamics models of the wheeled mobile robot is created. Then, the kinematic model of the actual and predicted trajectories is utilized to determine the trajectory tracking error of the wheeled mobile robot. By the trajectory tracking error system model, The curve tracking algorithm controller is employed in the outer loop control to remove the robot’s position and attitude deviation during trajectory tracking, while the PI controller is utilized in the inner loop control to precisely track the robot’s speed. The simulation results demonstrate that the suggested control technique can regulate the wheeled mobile robot’s pose error [x q y q θ q ] T within the ranges of 0.1m, 0.03m, and 0.03rad, which demonstrates the efficacy of the control approach.