Path Tracking Control for a Wheeled Mobile Robot
In this paper a model algorithm control (MAC) method is proposed to do the path tracking control of a wheeled mobile robot (WMR). This mobile robot is a three-wheel differentially steered wheeled mobile robot subject to nonholonomic constraints. The kinematic model of this mobile robot is presented and used as the mobile robot model to be controlled. Simulations are conducted to show the performance and feasibility of the proposed control strategy for the path tracking of a wheeled mobile robot.
Y. L. Zhang "Path Tracking Control for a Wheeled Mobile Robot", Applied Mechanics and Materials, Vols. 29-32, pp. 2076-2081, 2010