A Review on Tracking Control of Nonholonomic Mobile Robots

摘要

Tracking control of nonholonomic mobile robots is a research hotspot in current control field. In this paper, nonholonomic mobile robots are taken as the control object, with their tracking control methods highlighted. Detailed description focuses on the control structure of the reviewed methods, as well as application examples towards four single control methods and two hybrid control strategies. Moreover, we put forward further prospects for optimization tracking control strategy. In summary, this paper mainly introduces the tracking control methods of nonholonomic mobile robot control.