Accumulated effect parameter tuning method for geometrical path tracking of wheeled mobile robots

This paper proposes a novel method for parameter tuning in geometrical path tracking algorithms for wheeled mobile robots. Geometrical path tracking has the advantage in its ease of implementation. However, before using such an algorithm, several critical parameters need to be found experimentally. Such a procedure is quite time consuming and unreliable. Moreover, there is no certainty that the parameters found using this method will hold for different kinds of paths. The research presented in this paper addresses this particular issue. A tuning method called Accumulated Effect (AE) parameter tuning method is proposed for determining the appropriate parameter values which will hold for different paths under different conditions. This method is based on the steady state of a mobile robot, tracking a circular path. The effectiveness of this method has been demonstrated using simulation results for three different path tracking algorithms.