Mobile Robot Tracking Control Experiments along Memorized Planed Trajectories

This paper presents and analyses some results in path tracking control on complex plane trajectories for a differential wheeled mobile robot with memorized trajectories. The path planning and the path tracking control play an important role in control performance of mobile robots, which has two degrees of freedom of linear and rotational motions. Since differential wheeled mobile robots have non-linear cinematic characteristics, path planning and path control becomes very difficult to design from the viewpoints of optimality and stability. There exists inevitable path error between the current position of the robot and the desired path due to the imperfect tracking control of driving wheel velocities or environmental disturbances. This path deviation should be corrected by on-line adjustment of the desired linear and rotational velocities of the robot in the execution level called path-tracking control