Research on algorithm of wheeled mobile robot's trajectory tracking control

YU Cheng-guo， LAI Huan， WANG Tai-jiang
（Facility Design and Instrument Institute， China Aerodynamics Research and Development Center，
Mianyang 621000， China）

Abstract：  In order to satisfy the plane motion control of wheeled mobile robot，the plane geometry theory was investigated. A planar motion model as the basis for the study of linear and circular trajectory tracking control algorithm was established. A navigation round was presented to synthesize an angle by calculating the deviation of both angle and position between the robot's real-time location and the target trajectory. Secondly，a PID controller to achieve the intended trajectory tracking was made. The linear and circular trajectory tracking algorithm was practically applied in robotics. The experimental results show that the error is controlled in ±1 cm.
Key words： wheeled mobile robot；trajectory tracking；algorithm；proportion-integral-derivative（PID） control