Modelling and implementation of a car-like mobile robot for trajectory-tracking

摘要

This paper is devoted to design a car-like mobile robot (CLMR) for trajectory-tracking with system modelling, simulation and implementation. We analyse the requirements of the CLMR system, then propose a structure for trajectory-tracking and a scheme of implementation on embedded system. On this basis, the block diagram and simulations for different reference trajectories of two different implementations of the CLMR are provided in this paper respectively. Finally, a series of experiments are made to validate the design and show the performance of the proposed CLMR. According to the experiment results, the proposed CLMR system is proved to have an excellent dynamic characteristic, rapid response and stable capability for trajectory-tracking.