Dynamic and Kinematic Models and Control for Differential Drive Mobile Robots

摘要

The two-wheel differential drive mobile robots, are one of the simplest and most used structures in mobile robotics applications, it consists of a chassis with two fixed and in-line with each other electric motors. This paper presents new models for differential drive mobile robots and some considerations regarding design, modeling and control solutions. The presented models are to be used to help in facing the two top challenges in developing mechatronic mobile robots system; early identifying system level problems and ensuring that all design requirements are met, as well as, to simplify and accelerate Mechatronics mobile robots design process, including proper selection, analysis, integration and verification of the overall system and sub-systems performance throughout the development process.