Linear time-invariant feedback operator for mobile robot trajectory tracking

摘要: In this paper we propose a linear time-invariant (LTI) state feedback operator for nonholonomic mobile robots to track pre-defined trajectory on 2D planar region. Designing an on-line smooth control law is still among the major challenges solving tracking problem of systems including differential drive robots. To address problem, numerous nonlinear laws have been proposed date. Most these yield online solutions with satisfactory errors asymptotically. most cases, they suffer from overwhelming degree computational complexity even using simple unicycle-like system. The offers advantage being and LTI state-feedback in addition its capability problems partially observed systems. shortcoming that computed off-line before robot applies signal into left right wheels through their actuators. theoretical results are supported by computer simulations followed experiments e-puck robot.