Adaptive Navigation Planner for Autonomous Locomotion Control of Nonholonomic Wheeled Mobile Robot

Abstract

Navigation planner is proposed to control the autonomous locomotion process of the differentially-driven wheeled mobile robot (WMR). Several motion tasks are carried out through the simulation works for various kinds of trajectories. The postures stabilizing were realized through applying a feedback control law to ensure the tracking controller operates with the feedforward gains' variation. The Simulation results demonstrate the effectiveness of the utilized controller, in which a fast response is achieved.