Interpolation Based Controller for Trajectory Tracking in Mobile Robots

SERRANO, MARIO E.; GODOY, SEBASTIAN A.; QUINTERO, L.; SCAGLIA, GUSTAVO J. E.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

SPRINGER

Año: 2016 p. 1 - 13

0921-0296

In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.