TRAJECTORY TRACKING FOR LEADER-FOLLOWER ROBOTS

Differential drive mobile robots are widely used due to their simplicity, easiness of control and flexibility. This paper presents trajectory tracking and control of differential drive robots along a predefined regular geometrical path. The leader mobile robot is controlled with sliding mode control (SMC) to track accurately the reference path and the follower mobile robots works like the leader mobile robot as a slave robot. The control algorithm takes user input from a user interface using commercial available software MATLAB through which one can select the type of trajectory. The results show the comparison of orientation and position of leader-follower mobile robots.