A novel interception and trajectory tracking control approach for a mobile robot

• Дата: 2026
• Автори: Ben Hadj Mohamed, S., Mahjoub, A., Ben Njima, C., Benamor, A.
• Формат: Стаття
• Мова: Англійська
• Опубліковано: National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine 2026
• Теми: trajectory tracking; mobile robot; sliding mode control; backstepping control; particle swarm optimization
• Онлайн доступ: https://eie.khpi.edu.ua/article/view/344442
• Назва журналу: Electrical Engineering & Electromechanics

Introduction. In nature, interception is a hunting strategy where a predator moves to a point ahead of a moving prey’s trajectory to catch it, rather than directly pursuing it. Also, in transportation and manufacturing sectors, trajectory interception is carried out by the correspondence of the position and velocity of a target object with those of the robot interceptor. It is within this context that our research work takes place. The problem of the work consists in the development of a new intercepting and trajectory tracking strategy of a two-wheeled differential-drive mobile robot. Goal. To propose a novel intercepting and trajectory tracking technique whose principle is based on the orientation angle of the mobile robot interceptor guarantees a faster convergence with a minimum error and lower energy consumption. Methodology. The problem is solved using both a sliding mode controller and a backstepping controller to test the proposed strategy based on particle swarm optimization (PSO). Results. The results proved the effectiveness of the new approach especially in fast reaching-time and energy consumption compared to direct pursuit. In other words, the results indicate that the proposed approach achieves a noticeable reduction in convergence time (up to 82.5% faster) and significantly lowers oscillations in the control signals compared to classical methods. Scientific novelty. To get interception and accurate tracking in a reduced reaching-time, an original control technique based on PSO is implemented using two different controllers. Practical value. The proposed strategy offers satisfactory control performances such as fast interception and smooth trajectory tracking. References 24, tables 6, figures 14.