A novel technique for guiding wheeled mobile robot based on cross-track error combined with line-of-sight navigation

Abstract

In this study, we addressed the problem of robust and precise heading control for wheeled mobile robots during autonomous navigation. We used an integral backstepping approach, specifically designed for effective tuning of heading parameters to achieve smooth trajectory tracking. The introduced technique has the capability to maintain the desired heading angle, showing its efficiency by incorporating the integral action. In order to enhance path following accuracy, we propose a novel guidance strategy, based on integral backstepping, that combines cross-track error (CTE) with the line-of-sight (LOS) guidance method. Unlike each method individually, the proposed method addresses both short-term heading deviations and accumulated path errors by tuning control gains in consideration of system dynamics. The overall control architecture guarantees uniform semi-global exponential stability (USGES), as improved using Lyapunov-based analysis. Also, the controller was implemented on “Roscube” robot and tested in ROS-Gazebo simulator. Simulation results improve the efficiency of the proposed technique by combining the advantages of both methods CTE and LOS, minimizing the corresponding error and correcting the robot’s direction in real time and also ensure smooth heading transitions, rapid convergence, and reliable adherence to desired paths, even in the presence of disturbances.