Trajectory tracking method with short time step and long trajectory prediction

Abstract

In this paper, a trajectory tracking method with short time step and long trajectory prediction is proposed. The tracking accuracy can be improved by setting a smaller time step. By setting longer trajectory prediction, the speed of convergence is accelerated. The contradiction between local tracking accuracy and global convergence speed is solved effectively in this paper. The simulation examples let the leader robot adopt two motion modes of uniform linear motion and uniform circular motion respectively. The results show that the trajectory tracking method proposed in this paper can make following robot tracking the leading robot well, and speed up tracking convergence.