2021-04-122017-06-010921029615730409WOS;000400197800017SCOPUS;2-s2.0-84990898365http://hdl.handle.net/10784/27771In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers. © 2016, Springer Science+Business Media Dordrecht.enghttps://v2.sherpa.ac.uk/id/publication/issn/0921-0296articleInterpolationMobile robotsMultivariable control systemsRobotsTrajectoriesComparative studiesControl performanceMonte Carlo experimentsNon linearTracking controlsTrajectory trackingTrigonometric functionsWheeled mobile robotControllers2021-04-12Serrano, M.E.Godoy, S.A.Quintero, L.Scaglia, G.J.E.10.1007/s10846-016-0422-4