Linear Differential Driven Wheel Mobile Robot Based on MPU9250 and Optical Encoder

Abstract

In this paper, the operability of a custombuilt differential drive wheel mobile robot was evaluated using a self-driving algorithm in practical application. Several key parameters need to be realized by the WMR to enable succinct self-driving algorithm evaluations and parameter derivations. The main components of the WMR development were examined in this work, specifically parameter derivations, hardware implementation, steering algorithm and WMR operability. The result obtained indicate that with proper design and careful calibration of sensors, the required driving parameters could be realized. This enables the WMR to potentially serve as data collection platform for future evaluation of self-driving algorithms.