Vector field trajectory tracking control for wheeled mobile robots

This paper proposes a novel vector field control method based on nonlinear control algorithm for wheeled-mobile robots. A new vector field control method is proposed for wheeled-mobile robots. In the proposed method, the controller is designed to asymptotically stabilize the tracking errors in both position and orientation angle. By the proposed controller, trajectory tracking can be achieved for arbitrary reference trajectory even with large initial tracking errors and bounded disturbances. The performance analysis is performed and also simulations are included to confirm the effectiveness of the proposed scheme.