Manoeuvring of Differential Drive Mobile Robots on Horizontal Plane through I/O Decoupling

Abstract

To improve the manoeuvrability of differential drive mobile robots around a straight path on a horizontal plane, an I/O decoupling control scheme is proposed through a proportional controller that uses real time measurements of the kinetic variables of the mobile robot and measurements of the orientation of the robot, received through a wireless network providing communication delays. The present control scheme is based on the linear approximant of the robot model. The I/O decoupling design requirement is proven to be always satisfied and the controller is proven to be a common controller for various values of the robot parameters The stability and asymptotic command following of the closed loop system is studied. The resemblance of the performance of the closed loop system, using the delayed controller, to the respective response of the closed loop system for zero delay, is accomplished through a metaheuristic algorithm. The efficiency of the derived controller when applied to the nonlinear model of the mobile robot is illustrated through simulations.