Multimode discrete control for Wheeled Mobile Robots

The kinematical model of Wheeled Mobile Robots (WMRs) in discretized form was analyzed and established. A fuzzy controller, which can benefit from the driving experience of human, was designed to control the WMRs for the path tracking. In order to obtain stop position as accurately as possible while keeping a reasonable speed, an algorithm named slow-down PID control is proposed for the stopping control. In the last section of the motion, firstly turn the robot until it faces the path, and then, Band-Band control and stepwise PID control is applied while reducing the velocity. With this multimode control method, the trajectory of the WMRs can converge to the referenced path. Results of the simulation experiments demonstrate the feasibility and validity of the proposed algorithm.