Adaptive Trajectory Tracking Control Method of Mobile Robot

Abstract

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, an adaptive trajectory tracking method was proposed based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the ordinate error of error posture of the robot was introduced in the method to fasten the approaching speed of tracking, as well as an artificial field was combined with error posture to navigate the mobile robot. The structure of the control rule is simple and robust. Computer simulations indicate the method makes the approaching trajectory of the mobile robot becomes more perfect.