Trajectory Tracking Control of a Car-Like Robot, Simulation Results

This document presents the simulation results of a new inverse kinematics-based controller for trajectory tracking applied to a mobile robot, specifically a car-like robot. The control law design addresses the limitations of steering rotation and the limited speed of the robot. It also takes into account that the reference point is located at an arbitrary position inside or outside the robot's body. The trajectory is obtained through a planning process that takes into consideration the limitation in steering rotation. In this context, the simulations demonstrate a good performance of the controller both in steering control and robot velocity.