Controllers for mobile robot dynamic models: Trajectory tracking with applications to convoy-like vehicles

摘要

This paper establishes control strategies for a wheeled mobile robot model that includes the kinematic and dynamic equations of motion. The vehicle model accounts also for the actuator dynamics. The paper proposes simple control schemes for tracking a time-parameterizing path. Applications of the tracking controller for convoy-like vehicles are presented. Simulation results and demonstrations of the controller performances are discussed.