Development of Nonholonomic Wheeled Mobile Robot Model for Applying Time-efficient Control Strategy in Competitive Mobile robotics

Abstract

This paper discusses the application of the developed mathematical model for controlling the motion of the nonholonomic mobile robot with the differential drive based on the ROBOTIS BIOLOID® STEM KIT for further use in competitive robotics, where young people of different ages can participate, both preschool, school, and college or university students. This model allows the application of optimized parameters of linear and angular velocities to servo drives of robots, which task is to navigate through the colored line (usually the color of white or black) in the minimal time interval using an array of infrared sensors. Additionally, it discusses the planning of movement on different tracks, straight lines, and various polygonal chains or curves, of which the competition track is usually created. Models of both two-wheeled and four-wheeled nonholonomic mobile robots with differential drives, which are used for experiments by students in our lab, are also discussed. Experimental data were obtained on the time intervals of mobile robots on different track sections; the results were compared before and after applying the optimization model.