Dynamic virtual target guidance algorithm for path following control of a 4WD4WS mobile robot

摘要

This paper presents a method of applying a combination of the dynamic virtual target guidance algorithm and sliding mode control (SMC) to control a four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) to follow the trajectory with small curvature, based on visual information captured by a single camera. A kinematic model of four-wheel-drive/four-wheel-steer mobile robot were also present, the proposed controller ensure stability and robustness when operating under uncertainties and disturbances. The process of synthesizing control laws is strictly mathematically guaranteed. The simulation in Matlab shows the research results visually.