A path tracking control algorithm for autonomous mobile robot

To improve production flexibility mobile robots are necessary. Selected mobile robot is driven by two independent wheels that provides excellent robot mobility. Robot path is described by a set of points; therefore linear interpolation between points is performed. Feedback control is designed for each wheel separately anti has a form of PD algorithm with feedforward abilities Because mobile robot dynamic is coupled (interaction between wheels) and control is partially nonlinear, control synthesis is clone by numerous of simulation. Because the main mobile robot goal is accurate path tracking errors are defined in external coordinates, which provides human like guidance. To improve robot capabilities, feedforward control at the beginning and end of the motion is implemented. In the deceleration phase it provides much faster and smother goal point approach. Actual robot space position is estimated by numerical integration.