Design and Implementation of Controller of Path Following for Mobile Robot Based on Grid Map
Fen Wang · Modular Machine Tool & Automatic Manufacturing Technique · 2009
The path following problem of wheeled mobile robot is discussed.The way of following the path which is combined by the discrete way points is by using the controller of path following.This controller is designed via Lyapunov direct method and the theory of point stabilization.Simulations verify the effectiveness of the controller.The path following experiments for the mobile robot are designed by using the programs of the controllers of path following.The programs which can be run in the upper computer of robot are written in C language by considering real-time property about algorithms of the controller.The experimental results of the mobile robot in the real environment indicate that the controller is stable and the robot can follow the path precisely.