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Path Tracking Control of Mobile Robot Based on the Motion Compensation Method

The path tracking control system is a multi-constraint system, and traditional control methods are easy to cause problems such as actuator saturation. This paper introduces the model predictive control method to solve the path tracking problem of mobile robots. Aiming at the problem that the model predictive control method leads to control hysteresis due to the long calculation period, the motion compensation method proposed to improve the accuracy and control stability of the path tracking of mobile robots. Simulation results show that the model predictive control method can solve the multi-constrained system path tracking problem; the improved controller's maximum displacement error is reduced by 27.59% compared with the original controller, and the maximum heading angle error is reduced by 83.14%, which proves the improved controller has better control performance.