Mowing robot trajectory tracking control algorithm research

A trajectory tracking control algorithm is proposed for a mobile weed control robot. The kinematics, dynamics and positional errors of the wheeled mobile robot are mathematically modelled, and the convergence and stability of the system are demonstrated by the direct method of Lyapunov functions. Finally, through simulation and prototype verification, the results show that the trajectory tracking control algorithm designed in this study has a good dynamic response curve with a longitudinal deviation of 0.03m, a lateral deviation of 0.02m and a heading angle deviation of 6.1° which proves the effectiveness and feasibility of the control algorithm.