Research on Path Tracking Optimal Control of Two-wheel Mobile Robot Based on Adaptive Dynamic Programming

Wheeled robots are widely used in production and service. However, how to improve the stability and accuracy of tracking and reduce energy consumption has always been a problem that needs to be improved in the field of mobile robots. In order to solve these problems, we designed a path tracking controller for two wheeled mobile robot based on Adaptive Dynamic Programming. Firstly, Action Dependent Heuristic Dynamic Programming structure that meets the tracking control requirements is selected; then the path tracking control system of the two wheeled mobile robot based on the execution dependent heuristic dynamic planning is designed; finally, the system tracks the circular path to test the controller performance. The experimental results show that the control system designed in this paper has better tracking accuracy, faster convergence speed and can reduce the energy consumption in the control process.