Lyapunov based approach for target tracking control of a mobile robot

Abstract

For applications like surveillance in enemy territory, environmental monitoring etc. mobile robots can be employed. In these situations, the mobile robots may have to chase or track a moving target. Tracking of such targets can be challenging if the position and orientation of the mobile robot are rapidly changing. This paper addresses the problem of controlling a nonholonomic mobile robot to track a moving target. A Lyapunov theory based controller is proposed and it computes both the robot's linear and angular velocities to regulate the position and orientation of the robot according to the motion of the moving target. The performance of the proposed controller is compared with the existing Lyapunov based controllers. Simulation results illustrate that the proposed controller is efficient and effective than the existing controllers and leads to good target tracking performances.