Controlling A Mobile Robot Along Planned Trajectories

Abstract

The previous work presents and analyses some results in path tracking
control on complex plane trajectories for a differential wheeled mobile robot. For the
same model of the robot, the control uses alternatively two different algorithms. The
first one is a bang-bang algorithm and the second is a classical solution in path
tracking control. If the path given by the global path planner is a complex trajectory
concerning straight lines, circular arcs, quick turning motion or lane change motion,
finally the bang-bang algorithm offers better results in accurate and time execution.
The results confirm the capability of this tracking method to be practically efficient for
general path tracking of a wheeled differential mobile robot.