Trajectory Tracking of a Car-Like Mobile Robot

Abstract

This document presents the simulation results of the design of a kinematic controller for trajectory tracking applied to a mobile robot type auto. Within the design of the control law, the steering wheel rotation limitations and the robot's limited speed are considered. In addition, the point of interest is considered in an arbitrary position inside or outside the robot's body. The trajectory is obtained from a planning process where attention is paid to limiting the rotation of the steering wheel. The simulations show great controller performance.