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The Scientific World Journal
Volume 2013, Article ID 723645, 17 pages
Research Article

Construction of a WMR for Trajectory Tracking Control: Experimental Results

1Instituto Politécnico Nacional, CIDETEC, Área de Mecatrónica, Unidad Profesional Adolfo López Mateos, 07700 México, DF, Mexico
2Instituto Politécnico Nacional, UPIICSA, Sección de Estudios de Posgrado e Investigación, 08400 México, DF, Mexico
3Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias Físico Matemáticas, 72001 Puebla, PUE, Mexico
4Instituto Tecnológico de Culiacán, Departamento de Metal-Mecánica, 80220 Culiacán, SIN, Mexico
5Universidad Privada del Valle, Facultad de Informática y Electrónica, Tiquipaya, CBBA, Bolivia
6Centro Nacional de Actualización Docente, Área de Máquinas, 13420 México, DF, Mexico

Received 19 April 2013; Accepted 2 June 2013

Academic Editors: W. Chen and D. K. Liang Ou

Copyright © 2013 R. Silva-Ortigoza et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position and orientation . Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points . A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.