Trajectory tracking for a mobile robot-An application to contour following

Abstract

Some control algorithms for the contour following guidance module of a mobile robot are described, and their performance is analyzed. Different approaches such as classical, fuzzy and neural control techniques have been considered in order to optimize and smooth the trajectory of the mobile robot. The module controls a virtual vehicle, by means of two parameters: velocity and curvature. The algorithms have been first simulated and then tested on the UPM mobile platform. The best results have been obtained with classical control and fuzzy control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>