A new path tracking approach for a mobile robot under velocity field

To study path tracking for a mobile robot under velocity field, an efficient and effective approach is suggested. In the traditional method, frequent variation of a robot´s linear velocity would cause inefficiency, especially in dynamic environments and/or multi-robot workspace. Comply with the bounds of linear and angular velocities and accelerations of a real robot; we select reasonable linear and angular accelerations by utilizing the linear velocity and angle control laws proposed in this paper. It is an efficient approach since that a robot´s linear velocity is kept at the maximum all the time instead of frequent variation. Simulation results in multi-robot workspace illustrate that it is an efficient and effective approach not only for a single mobile robot but also for multiple robots, furthermore, it is high precision.