Abstract
In this study, the trajectory of a mobile robot is controlled by using a method based on the time state control form. The convergence speed and the trajectories of the robot with different control parameters were investigated in experiments. The experimental results agreed well with the theoretical results. Therefore, it is possible to adjust the control parameters of this robot based on linear control theory. The distance to obstacles was measured by using a laser range finder. The robot avoided the obstacles and reached the target position, traveling back and forth automatically. When the obstacles was close to the target position, the number of times of switching the traveling direction increased and the time required for reaching the target position became long.
