Trajectory Tracking of Mobile Service Robot

Abstract

In recent years, there is a strong demand for automated and even autonomous robots in many fields such as manufacturing or social services and varieties of robots have been developed. In order to realize the humanized service from the robots, path planning and path tracking problems should be addressed according to typical and unique working environment. In this paper, the simplified four wheeled electric vehicle was chosen as our robot model, then the lateral controller was proposed based on the Lyapunov stability theory and linear control theory. Associated simulation models were constructed in the MATLAB environment, and simulation results show that the designing method of commad signals is reasonable and linear feedback controller can be used for robot trajectory tracking.