Tracking Control for Mobile Robots by Using the Wavelet Interpolation Method

Presented in this paper is a trajectory tracking control method for the mobile robots based on the dynamic equations by using the wavelet interpolation method. The proposed control method enables the mobile robots track the desired trajectory in finite time when the rotational velocity and the forward velocity are both nonzero. More evident advantages of the proposed control method include less computation demand, more simple method and its desired trajectory being any complex nonlinear curve. Simulation results show its effectiveness.