Discrete trajectory tracking control of wheeled mobile robots

This paper proposes a novel discrete trajectory tracking controller for a class of nonholonomic vehicles. Using existing velocity control laws based on the kinematic model and backstepping technology, the proposed discrete controller can accommodate not only traditionally continuous trajectories but also trajectories involving discontinuity points, while retaining the stability proved by Lyapunov functions. Several simulation results are presented to show the validity of the proposed controller. Moreover, by investigating the implementation on the autonomous mobile robot SmartRob2 through web pages, it is clearly illustrated that such a discrete trajectory tracking controller is of great feasibility and applicability.