Trajectory tracking control of a mobile robot

This is a practical paper, mainly implementing a trajectory tracking mobile robot. The wheels of the mobile robot are omnidirectional wheels, and the controller are a Raspberry Pi single-board computer and a motor-driven expansion board. The mobile robot connects a high-resolution camera via USB. This paper uses OpenCV to perform image processing functions and uses PID to control the movement of the robot. The PID controller parameters are adjusted using the rule of thumb to reduce overshoot. The Raspberry Pi single-board computer and motor drive expansion board can control the speed of the left and right motors, and can also control the camera’s pan and tilt, allowing it to adjust the camera angle and adjust the experimental conditions. According to the experimental results, trajectory tracking is successfully completed.