Development of waypoint tracking controller for differential drive mobile robot

Waypoints are control points through which a robot has to move to reach the goal. Waypoint defined trajectories may have discontinuities in the curvature. The waypoint tracking controller should be designed to take care of such discontinuities. In the current work a control strategy is developed for waypoint trajectory tracking control of differential drive mobile robot. The waypoint trajectory requiring sharp turns is considered in the design of controller. Further the control gains are optimized for reducing the tracking errors. The performance of the controller is analyzed using simulation study. The obtained results suggest that the new controller is a more suitable candidate for waypoint tracking.