Design, simulation and implementation of cascaded path tracking controller for a differential drive mobile robot

Abstract

The problem of motion planning and control of mobile robots is a key research area in view of their relevance in applications. This paper proposes a cascaded control topology for reference path tracking of a differential drive mobile robot. Kinematic and dynamic modelling of the robot is presented. Both master and slave controllers have PID configuration. Control parameters obtained from simulation are fine tuned for hardware implementation using pcb mounted pots. Simulation and experimental results demonstrates the performance and robustness of the proposed controller.