[ 1 ] Dudek G, Jenkin M. Computational principles of mobile robotics. 2nd ed. New York: Cambridge University Press; 2010. 链接1

[ 2 ] Konduri S, Torres EOC, Prabhakar R. Dynamics and control of a differential drive robot with wheel slip: application to coordination of multiple robots. J Dyn Syst Meas Control 2017;139(1):014505. 链接1

[ 3 ] Fahimi F. Autonomous robots: modeling, path planning, and control. New York: Springer; 2008.

[ 4 ] da Silva J, de Sousa J. A dynamic programming based path-following controller for autonomous vehicles. Contr Intell Syst 2011;39(4):245–53. 链接1

[ 5 ] Kolmanovsky I, McClamroch NH. Developments in nonholonomic control problems. IEEE Control Syst 1995;15(6):20–36. 链接1

[ 6 ] Nagy Á, Csorvási G, Kiss D. Path planning and control of differential and car- like robots in narrow environments. In: Proceedings of the 13th International Symposium on Applied Machine Intelligence and Informatics; 2015 Jan 22–24; Herl’any, Slovakia; 2015. p. 103–8. 链接1

[ 7 ] Mathew R, Hiremath SS. Trajectory tracking and control of differential drive robot for predefined regular geometrical path. Procedia Technol 2016;25:1273–80. 链接1

[ 8 ] Snider JM. Automatic steering methods for autonomous automobile path tracking. Pittsburgh: Carnegie Mellon University; 2009. 链接1

[ 9 ] Park B, Yoo SJ, Park JB, Choi YH. A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots. IEEE Trans Contr Syst Technol 2010;18(5):1199–206. 链接1

[10] Valbuena L, Tanner HG. Hybrid potential field based control of differential drive mobile robots. J Intell Robot Syst Theory Appl 2012;68(3–4):307–22. 链接1

[11] Chen X, Jia Y, Matsuno F. Tracking control for differential-drive mobile robots with diamond-shaped input constraints. IEEE Trans Contr Syst Technol 2014;22(5):1999–2006. 链接1

[12] Kanayama Y, Kimura Y, Miyazaki F, Noguchi T. A stable tracking control method for an autonomous mobile robot. In: Proceedings of IEEE International Conference on Robotics and Automation; 1990 May 13–18; Cincinnati, OH, USA. New York: IEEE; 1990. p. 384–9. 链接1

[13] Fukao T, Nakagawa H, Adachi N. Adaptive tracking control of a nonholonomic mobile robot. IEEE Trans Automat Contr 2000;16(5):609–15. 链接1

[14] Maalouf E, Saad M, Saliah H. A higher level path tracking controller for a four-wheel differentially steered mobile robot. Robot Auton Syst 2006;54 (1):23–33. 链接1

[15] Guo J, Lin Z, Cao M, Yan G. Adaptive control schemes for mobile robot formations with triangularised structures. IET Control Theory Appl 2010;4 (9):1817–27. 链接1

[16] Miao Y, Khamis AM, Karray F, Kame MS. A novel approach to path planning for autonomous mobile robots. Contr Intell Syst 2011;39(4):235–44.

[17] Laumond JP, Jacobs PE, Taix M, Murray RM. A motion planner for nonholonomic mobile robots. IEEE Trans Robot Autom 1994;10 (5):577–93. 链接1

[18] LaValle S, Tennoe M, Henssonow S, editors. Rapidly-exploring random trees: a new tool for path planning. Whitefish: Betascript Publishing; 1998. 链接1

[19] Kavraki L, Svestka P, Latombe JC, Overmars MH. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans Robot Autom 1996;12(4):566–80. 链接1

[20] Coello Coello CA, Leehuga MS. MOPSO: a proposal for multiple objective particle swarm optimization. In: Proceedings of the 2002 Congress on Evolutionary Computation; 2002 May 12–17; Honolulu, HI, USA; 2002. p. 1051–6.