Trajectory tracking of mobile robot using iterative learning control in polar coordinates

Abstract

To improve the repetitive tracking performance of autonomous mobile robot for a class of special curves the robot's kinematics model was studied in polar coordinates an open-closed-loop P-type iterative learning control ILC algorithm which is described in discrete-time domain was applied and the convergence proof of the ILC algorithm was presented under the given conditions.With the increasing iteration times a better stabilization and convergence rate of the system can be achieved under dynamic uncertain environment.By taking the simulation control law as the initial control inputs on real robot platform firstly the real control law can be obtained with less iterations under practical environment.The simulation results show good performance for tracking and the real experimental results verify the feasibility and efficiency on actual mobile robot platform.