Dynamic path following: a new control algorithm for mobile robots

Abstract

A new algorithm for the control of wheeled mobile robots called dynamic path following is presented. This algorithm regulates the motion of the mobile robots to desired geometric paths as opposed to desired trajectories which are given as time histories in conventional trajectory tracking algorithms. The desired trajectory for the dynamic path following algorithm is parameterized by a convenient geometrical parameter (e.g., arc length of the path). The algorithm is designed by using a nonlinear feedback for input-output linearization and decoupling. The performance of this new algorithm is compared with that of the trajectory tracking algorithm and is evaluated under different initial conditions as well as in the presence of various uncertainties using computer simulations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>