Trajectory Tracking Control of Mobile Robot by Fluid Model

Abstract

This paper describes a fluid model based path planning of mobile robot. In the previous research, the authors have already proposed TBSA (Time Based Spline Approach) for smooth motion of industrial robots⁽¹⁾. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of mobile robot based on fluid model is proposed in this paper. The combination of the TBSA and the generated path by fluid model brings a smooth motion of mobile robots.