The shape tracking design of wheeled mobile robot motion

Based on the robot mathematic model in kinematics, we analyze the locomotory control of the wheeled mobile robot (WMR) with nonholonomic constraint. Firstly, a leading controller is designed to move the robot from a primary point to a reference point in the finite time. Secondly, a shape congruence controller is devised to make the robot moving along the similar sections. Consequently, the robot is guaranteed to reaching the target. Computer simulation experiment shows that the algorithm enables the robot to move to the target along the similar sections accurately, smoothly and rapidly.