A Review of Embedded Systems Used in WMR for the Trajectory Tracking Task

In this work a review of the more outstanding contributions, carried out in the automatic control context, that deal with the trajectory tracking task in autonomous wheeled mobile robots (WMR) by using an embedded system is presented. In this direction, with the intention of describing an embedded system, some definitions of such a system and also the parts integrating it are introduced. The contributions related to the trajectory tracking task in WMR are grouped according to the used hardware, namely, microcontroller, field-programmable gate array, and digital signal processor. Additionally, works that use an embedded system in the implementation of the trajectory tracking task for a WMR, but they do not give importance to such a system are included. Moreover, studies using personal computers and laptops to execute some control problems associated with WMR are considered. In general, this paper points the works dealing with the use of embedded systems in WMR, identifying a wide variety of embedded systems models.