Speed control of wheeled mobile robots using PID with dynamic and kinematic modelling

摘要

The wheeled mobile robot (WMR) are autonomous vehicles and have nonholonomic properties and uncertainties brought on by the internal dynamics and/or feedback sensors. To accomplish the speed control of such a complex vehicle is very difficult. This paper proposes a PID controller, which is used as a speed controller for the wheeled mobile robots with Dynamic and Kinematic modelling. Then, such a controller is used for the point tracking control problem of WMRs in more accurate way. On account of the errors give rise between the controller output and the actual velocity of the WMR, the dynamic modelling is also required along with the kinematic modelling of WMR to develop a perfect point tracking. So the real point tracking control of WMR demands the combination of dynamic controller and kinematic controller. The simulations show the competency of the speed controller of WMR with PID control and the preponderant point tracking performance of such control architecture for different types of goals.