A hybrid control law for path tracking of a dual differential-drive mobile robot

Path tracking of a mobile robot is the process of moving toward the target autonomously in the environment with obstacles. In the process of navigation, a mobile robot has to conduct the accurate modeling of the environment, obtain the location of the pose, and plan the optimal path from the starting point to the target point. To improve the accuracy and efficiency of path tracking for a dual differential drive mobile robot, a hybrid control law is proposed in this paper. The local path information is integrated into the initialization of the pheromone and the selected probabilities of the paths, thus resulting in improving the convergence speed. A crossover operation, which enhances the capability of escaping the stagnation phenomenon, is introduced into the proposed algorithm to overcome the stagnation phenomenon. The proposed method improves the path tracking efficiency and performance of the mobile robot.