Trajectory tracking of mobile robots based on dynamics of behavior
Jing Mei Yang · Computer Engineering and Applications Journal · 2010
Trajectory tracking of wheeled mobile robots is studied based on dynamics of behavior.The robot's heading direction and velocity are specified as behavioral variables.The tracking attractor dynamic equation and approaching attractor dynamic equation are constructed.The relative distance between the robot and a desired point in a tracked trajectory is integrated into velocity attractor equations as an indirect coupled parameter.The convergence of the dynamical systems is analyzed.At last,the simulation results demonstrate the feasible realization of trajectory-tracking,and also the validity and feasibility of this method is proved.The mobile robot tracks the trajectory effectively.