Heading Control on Differential Drive Wheeled Mobile Robot with Odometry for Tracking Problem

摘要

This paper describes the process of designing odometry and heading controls from a differential steering wheeled mobile robot (DSWMR). The odometry system aims to estimate the position relative to the initial position of the robot to estimate changes in position from time to time in the trajectory tracking process. The problem that often arises in the tracking problem is the heading error that can be caused by a slip on the robot wheel or an irregularity between the speed of the DC motor on the robot wheel. Heading errors in DSWR can be obtained with the help of a rotary encoder located on a DC motor. This work applied PID control to obtain the heading error close to 0 degrees on the odometry system for trajectory tracking. It works by controlling the rotating speed of each DC motor on the robot wheel. The results of the PID control parameters implemented on the DSWMR were obtained from the results of tuning experiments.