Recently studied the heading estimate, because there is no relevant information, it has been moving in the exploration.
The general control method of the wheel mobile robot heading track is to make the difference between the desired navigation and the robot as the controller input deviation, the controller output control is the front wheel index of the robot. The direction of the wheel mobile robot is longitudinal speed, lateral speed , The front wheel offset, the robot has many factors such as the rotational inertia, gravity position, the front and rear wheel side deviations, and the actual road conditions.
It is estimated that our trolley will use the PID control to adjust.
