Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robot Using Line of Sight Guidance

This paper investigates a novel line of sight (LOS)—based trajectory tracking control scheme for a nonholonomic wheeled mobile robot. Specifically, LOS guidance law is utilized to generate the reference heading angle and speed, which guide the robot toward the given trajectory. Then, the back-stepping technique is adopted to design the control law that guarantees the corresponding state converges to the reference ones computed by guidance law. The stability of the proposed control algorithm is meticulously analyzed according to Lyapunov’s theorem. Finally, to validate the theoretical conclusions, simulation experiment is carried out, which shows the high performance of the designed trajectory tracking control scheme.