In this paper, an adaptive control strategy is proposed for indoor leader-following of wheeled mobile robot (WMR), which involves trajectory reconstruction and controller design. The trajectory reconstruction aims to reconstruct the trajectory of the leading robot online based on the measurements of on-board sensors. To ensure following the leader with an allowable distance, reference trajectory is determined based on the reconstructed trajectory for the follower robot without explicitly planning any trajectory. Using such a real time constructed reference trajectory, a single controller is designed to simultaneously solve both the tracking and stabilization of the follower robot. The design parameters in the proposed control scheme are all independent of the actual reference trajectory which is the trajectory of the leading robot. This is important to solve the problem when such a reference trajectory is not available in advance. Furthermore, the unknown parameters and the bounds of external disturbances are all estimated and compensated such that global asymptotic stability is achieved. Simulation results demonstrate the effectiveness of the proposed control strategy for the indoor leader-following of WMR.

针对轮式移动机器人（WMR）的室内跟随跟随问题，提出了一种自适应控制策略，该策略涉及轨迹重构和控制器设计。轨迹重建旨在基于机载传感器的测量值在线重建领先机器人的轨迹。为了确保以允许的距离跟随领导者，参考轨迹是基于跟随者机器人的重构轨迹来确定的，而无需明确规划任何轨迹。使用这种实时构造的参考轨迹，可以设计一个控制器来同时解决跟随机器人的跟踪和稳定性。所提出的控制方案中的设计参数均与作为引导机器人的轨迹的实际参考轨迹无关。这对于解决预先没有这种参考轨迹的问题很重要。此外，未知参数和外部干扰的边界都被估计和补偿，从而实现了全局渐近稳定性。仿真结果证明了所提出的控制策略对WMR室内领导跟随的有效性。