Mobile robots are commonly used for differential drive because of their simplicity, ease of control and flexibility. In this manuscript, the mathematical model of differential drive mobile robot was derived. This paper presents a nonlinear dynamic controller to force the robot follow the path that created depends on the application taking into consideration the wheels ' kinematics, actuator dynamics and rolling resistance. Controllers were designed to track the trajectory smoothly. At first, the ideal estimations of linear and rotation speeds are created considering just the kinematic model of the robot. To begin with, these values are handled to represent the robot’s dynamics, consequently creating the linear and rotation speed orders gave to the actuators. There have been various trajectories generated similar to real-life scenarios. Also presented are simulation and experimental results showing the great performance of the designed trajectory tracking controller. The simulation results obtained with the use of Matlab rev2018a.
Volume 12 | 08-Special Issue
Pages: 837-845
DOI: 10.5373/JARDCS/V12SP8/20202587