In previous work, a path tracking control system developed for autonomous differential mobile robot driven by wheels is described. In conventional approaches, the trajectory is usually planned by smooth curves with curvature-continuity and a path tracking controller is designed to compensate the path error occurring in the navigation. If large path error occurs, the algorithm often causes unpredictable tracking motion. This paper presents a bang-bang path tracking algorithm by which smooth and stable motion could be obtained even for the path given by simple combination of straight lines or circles. To investigate the performance of the control system, a series of experiments was conducted using a PC for the case of a differential mobile robot.
