Wheeled mobile robot path planning and path tracking controller algorithms: A review

Abstract

The two major problems in wheeled mobile robot technology is path planning and path tracking. The former evaluates and identifies an obstacle free path for a mobile robot to traverse within its environment and the later deals with the controller design for a mobile robot to track the reference path with precision. Hence, researchers have proposed and applied several solution approaches to these problems over the years. The sustained integration of wheeled mobile robot to task that further require their operation within the human environment characterized with uncertainty makes a review of these solution approaches very significant. Thus, this paper therefore, presents a review of wheeled mobile robot path planning algorithms and path tracking control algorithms applied within the last decennium.