Controller design and implementation for a differential drive wheeled mobile robot

Abstract

Mobile robotics evolution has reached a state-of-the-art high technology level. A wide range of control methods and development tools contribute to improving it continuously. This paper proposes some dynamic controllers based on given specifications and adapts a useful method to identify the dynamic models which are the starting point of the controller design. The obtained algorithms are implemented to the real robot and different strategies of kinematic control, such as trajectory tracking and path following, are tested on the controlled robot. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation.