Mobile robot adaptive trajectory control: Non-linear path model inverse transformation for model reference

In particular, service robotics is strongly tided to highly accurate navigational tasks where pathway tracking is a practice commonly carried out through control algorithms. This study proposes theoretical non-linear pathways presented as kth-degree polynomials as model references. Our proposal establishes a proportional control with a variable model reference at the level of second order derivatives to which the robot´s motion is adapted on-line. The robot´s fixed frame Cartesian trajectory model is inversely transformed to wheels´ angular acceleration components, which are the reference models. Although, our proposal may be applied to any type of wheeled robot´s kinematic structure, we are presenting an example of two active wheels with differential velocity modality. Obtained results raised from successful experimental practice and numerical simulations as well, which depict the capability of the proposed model control.