<p>This study aims to achieve trajectory-tracking of an autonomous wheeled mobile robot (AWMR). Proportional-Derivative (PD) controllers with a decentralized architecture using wheel odometry and Adaptive Monte Carlo Localization (AMCL). At first, a complete model of the AWMR is established incorporating its kinematics, dynamics and actuator models. Then, a desired circular trajectory is planned for tracking testing purposes. To investigate the feasibility and robustness of the proposed controllers, both simulations and experiments are conducted for different scenarios. The first scenario is when the start point position of the AWMR is inside the desired trajectory whereas in the second case, the start point is outside the desired trajectory. The results show that the proposed control scheme leads to excellent control performance for both simulation conditions. This was also validated experimentally even in the presence of frictional torques. In addition, it was shown that the control scheme using the AMCL technique for localization outperforms those using the wheel odometry in the experiment.</p>