Circular-Line Trajectory Tracking Controller for Mobile Robot using Multi-Pixy2 Sensors

This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information gathered by three Pixy2 sensors. Secondly, the sliding mode controller is implemented to regulate the tracking error. Finally, simulation results are analyzed to show the effectiveness of the proposed method.