A New Non-Time Based Tracking Control for Mobile Robot

This paper proposed a new trajectory tracking control method based on non-time motion reference for non-holonomic mobile robots. Different from the traditional time-based control theory, this method determines the reference points through the geometrical relationship between the current position and the desired path. Substituting them into the time based motion controller, a non-time based motion controller can be derived. Since the reference points are only related to the current state of the robot, the method proposed gets rid of the influence by time, thereby avoiding the disadvantages of loss of tracking ability when the mobile robot encounters undesired incidents such as motor shutdown or tire skids. Finally, the feasibility of this method is verified through numerical simulations of typical path tracking.