Inverse kinematics of a two-wheeled differential drive an autonomous mobile robot

摘要

In this research, an inverse kinematic model for automatic mobile robot has been experimental designed by direct controlling of two-wheeled differential drive method. An orientation of the robot toward lined track is observed to evaluate the right position by controlling the speed differences between the rears two-wheeled separately. The angular speed of the rear wheels calculated according to the desired linear speed of the robot and an error occurs to the angle of the robot orientation affected by of radius of the rear wheel, distance between the two driven rear wheels, and the curvature of turn movement the mobile robot. Two font-wheels were designed flexible as a free wheel mechanism to follow the lined track. A system performance was analyzed to obtain the robot characteristic response.