Accurate trajectory control of wheeled robot is an unavoidable problem in path planning, especially in the environment of large positioning error. In this paper, by designing the reverse trajectory and using martingale method, the accurate execution of the target trajectory is realized, and the error estimation is given. Finally, through numerical simulation, it is shown that when the observation error is 0.5 units, the average trajectory error is about 0.1 units, and the probability of error exceeding 0.347 units is less than 2%.

中文翻译：

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优化定位误差下逆轨迹法的控制原理与误差估计

轮式机器人的精确轨迹控制是路径规划中不可避免的问题，尤其是在定位误差较大的环境中。本文通过设计反向轨迹并采用using方法，实现了目标轨迹的精确执行，并给出了误差估计。最后，通过数值模拟表明，当观测误差为0.5个单位时，平均轨迹误差约为0.1个单位，超过0.347个单位的误差概率小于2％。