Kinematic Model and Control Algorithm for the Path Tracking of Nonholonomic Mobile Robots

Ľubica Miková^1, and Alexander Gmiterko¹

¹Technical University of Košice, Faculty of Mechanical Engineering, Department of Applied Mechanics and Mechatronics, Košice, Slovakia

Cite this paper:
Ľubica Miková and Alexander Gmiterko. Kinematic Model and Control Algorithm for the Path Tracking of Nonholonomic Mobile Robots. Journal of Automation and Control. 2016; 4(2):26-29. doi: 10.12691/automation-4-2-4

Abstract

Provided in this article is a general overview of nonholonomic mobile robots’ modelling. Emphasis is given to the structural characteristics of kinematic models, taking into account the mobility restrictions caused by various links. Another problem of nonholonomic mobile robots is tracking of the prescribed path. The classic “tracking controllers” are not appropriate for this type of tasks, because they do not guarantee that the robot remains on the prescribed path. The aim of this paper is to propose and to verify, by means of computer simulation, the method of control, which ensures that the “output” of the robot will move along the prescribed path.

Keywords:
mobile robot path tracking kinematic model

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