In natural environments, interception represents a predatory behavior as the hunter anticipates the prey’s path and moves toward a future position of the target rather than following it directly. This approach generally reduces both the time required to capture the prey and the associated energy consumption. Based on this concept, this paper introduces an interception-based controller-independent approach for tracking the trajectory of a differential-drive mobile robot. The proposed method is implemented and a fair comparison is carried out with two classical approaches and a recent hybrid prescribed-time controller (HPTC). Furthermore, the gains of the controllers are tuned using a Particle Swarm Optimization algorithm. The simulation results demonstrate that the proposed interception-based strategy provides an improved tracking accuracy and a faster convergence in comparison with the classical trajectory tracking methods.
Interception, Trajectory Tracking, Mobile Robots, Sliding Mode Control, Prescribed-time Control, PSO Optimization, Optimal reference trajectory tracking.
Sabeur BEN HADJ MOHAMED, Adel MAHJOUB, Bouthaina DAMMAK, Anouar BENAMOR, "Predictive Reference Design for Robust and Optimal Motion Control of Differential-Drive Robots Under Perturbations", Studies in Informatics and Control, ISSN 1220-1766, vol. 35(1), pp. 99-108, 2026. https://doi.org/10.24846/v35i1y202609
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