A SIMPLE PATH TRACKING CONTROL OF TWO-WHEELED MOBILE ROBOT

Abstract

In this paper, a nonlinear path tracking controller based on a combination of kinematics and torque backstepping methods is applied to a nonholonomic Two-Wheeled Mobile Robot (WMR). The mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known. To achieve the controller, the tracking errors are defined, the control inputs for the kinematics controller are designed, and the torque controller is designed to guarantee that the errors converge to zero asymptotically. The simulation results are included to illustrate the performance of the control law.