A New Sensor-Follow Control Strategy for Tracking Control Mobile Robot

Inspired by human behaviors, this paper proposes a new sensor-follow control strategy for tracking control mobile robot, which means we should control not only the robot´s body but also the sensor structure to track the target. A FWS four-wheel tracking line robot is selected as the research object, which will be without loss of generality to study this control strategy. In this paper, the dynamic model of the mobile robot and the model of the environment are analyzed, and the performances of the sensor-fixed and sensor-follow control strategies are compared. Simulation and experiment results show that the sensor-follow control strategy has a better stability and higher tracking speed.