THE KINEMATIC MODEL AND CONTROL OF WHEELED MOBILE ROBOT FOR TRAJECTORYTRACKING

Abstract

Trajectory tracking has been an extremely active research area in robotics in the past decade. In this paper, a kinematic model of two wheel mobile robot for reference trajectory tracking is analyzed and simulated. For controlling the wheeled mobile robot PID controllers are used. For finding the optimal parameters of PID controllers, in this work particle swarm optimization (PSO) is used. The proposed methodology is shown to be a successful solution for solving the problem.

Keywords

• trajectory tracking
• particle swarm optimization
• kinematic model
• mobile robot