A trajectory stabilization algorithm for a mobile robot

Abstract

Wheeled mobile robots are used widely in many applications. There are many algorithms for robot movements control and trajectory stabilization proposed in literature. In this paper we consider using block approach to synthesize control algorithm for trajectory stabilization of mobile platform. The main idea consists in introducing relation between position and angular coordinates, which excludes loss of controllability of mobile robot. Then step by step synthesis procedure is used on the base of block approach to provide fulfillment of mentioned above interconnection. Simulation results demonstrate the effectiveness of proposed algorithm.