Estimation control algorithm for Wheeled Mobile Robot course tracking

We have recently studied heading estimation control, so we have been exploring it because we have no relevant information.

A general control method for Wheeled Mobile Robot course tracking is to take the difference between the expected course direction and the actual course direction of the robot as the controller input deviation, and the controller output control is the front wheel angle of the robot..The course direction of a wheeled mobile robot is related to many factors, such as the longitudinal speed, transverse speed, front wheel angle, the moment of inertia of the robot around its center of gravity, the center of gravity, the side deviation coefficient of the front and rear wheels, and actual road conditions.

It is estimated that our car will use PID Control for adjustment.