Implementation of Controller Design and Navigation Algorithm for Sensor-Based Path Planning and Tracking Control Scheme for Non-Holonomic Wheeled Mobile Robot

摘要

A variety of controller design and navigation algorithms have been proposed in literature for nonholonomic wheeled mobile robots in environments without obstacles. These controllers and navigation algorithms are very important for the robot to successfully achieve its goals, whether it is requested to accomplish a mission or simply to survive in the environment. It addresses the problem of active sensing, i.e., the selection of a robot motion, which makes the robot arrive at its desired goal configuration with maximum accuracy, given the available sensor information. In this paper, the implementation of the controller design scheme and navigation algorithm for sensor based path planning and tracking control on the laboratory prototype wheeled mobile robot is described in detail.