Experiments for Performance Evaluation of a Mobile Robot Trajectory Tracking

Abstract:

Generally, the path given by the 2D global path planner is a complex trajectory concerning straight lines, circular arcs, quick turning motion or lane change motion, but in the simplest case, the trajectory can be a polygonal shape. For the case of a differential wheeled mobile robot without spin motions, this paper presents and analyzes the real continuous evolution of the robot between two adjacent straight line of a polygonal rote, concerning different angles. For the same model of the robot, the control uses alternatively two different algorithms: the first one is a classical solution in path tracking control and the second one is an algorithm based on a smooth curve function.

• Periodical: Applied Mechanics and Materials (Volume 162)
• Pages: 302-307
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.162.302
• Online since: March 2012
• Authors: Mircea Nitulescu
• Keywords: Comparative Experiments, Mobile Robot, Path Control

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