Trajectory Tracking Control of Wheeled Mobile Robots Based on the Artificial Potential Field

Trajectory tracking control is the major control problem of nonholonomic wheeled mobile robots (WMRs). In this paper, a novel simple adaptive tracking controller is presented based on the kinematics models. An artificial potential field is used to navigate the wheeled robot in the controller. Easy design, fast convergence, and adaptability to other nonholonomic mobile are obvious advantages. Stability of the rule is proved through the use of a Liapunov function. At last, this method is implemented on the simulations and the wheeled mobile robot. Results show the effectiveness of the controllers.