A simple and efficient path following algorithm for wheeled mobile robots

Abstract

A heuristic path following algorithm for wheeled mobile robots is presented. This approach is based on the orthogonal projection to the path and exponential functions for lateral and longitudinal control. It allows smooth and stable navigation in dynamic and cluttered environments, and does not depend on the robot’s kinematics. The results are experimentally demonstrated using three different kinematic configurations: omnidirectional, Ackermann- and two-steering.