On modeling and position tracking control of the generalized differential driven wheeled mobile robot

Abstract

This paper presents two models for the generalized differential wheeled mobile robot where the origin of the frame of reference of the robot may be placed away from the center of the prolongation of the axes of the actuated wheels of the robot. One model relates the angular speeds of the actuated wheels with the posture of the robot. A position tracking control is exemplified via numerical simulations using this model.