A reference governor approach for path tracking of nonholonomic mobile robot

In this study, a reference governor approach is proposed for path tracking of nonholonomic mobile robot considering prescribed constraints. The proposed approach is designed to minimize the tracking error with a desired speed while satisfying all other constraints such as bounds on linear and angular velocities, acceleration. This approach determines the control inputs of a path tracking algorithm based on current-state, reference trajectory and prescribed constraints. This is achieved by designing a reference governor module addition to the classical path tracking approaches.