A New Method for Trajectory Tracking of Nonholonomic Mobile Robot Based on Frequency Spectrum

摘要

It is one of the fundamental issues for the mobile robot motion to track a known trajectory in most cases, such as the AGV in the factory, the mobile car in the physical distribution. This paper presents a new method for controlling a nonholonomic mobile robot to track a desired trajectory considering the sampling period of the sensors equipped on the robot. In natural coordinate system, the Fourier transform is utilized to attain the frequency characteristics of the trajectory. Then it can be confirmed that whether the trajectory can be tracked accurately and how to achieve an effective strategy for trajectory tracking according to the Nyquist's Theory. The simulation results verify the validity of the method proposed in this paper.