Based on the sliding mode variable structure control theory, the sliding mode control algorithm is proposed for a nonholonomic mobile robot system. The Lyapunov function and exponential approximation law are used for designing the control law of the mobile robot. And the binocular stereo vision method is proposed for the four wheeled AGV to implement the obstacle detection and the depth calculation. Finally, the control law is designed and simulated by the proposed algorithm for the wheeled mobile robot, and the simulation results show that the proposed algorithm is efficient, and also can reduce the chattering of the system, and in the experiment the four wheeled mobile robot can also successfully detect obstacles.
