Experiments for Performance Evaluation of a Mobile Robot Trajectory Tracking
Mircea Niţulescu · Applied Mechanics and Materials · 2012
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.