Trajectory Tracking Control of Differential Drive Mobile Robot Based on Improved Kinematics Controller Algorithm

摘要

An important issue in wheeled mobile robot motion control is that most of robot controllers are designed relying solely on the kinematics of robots. However, when highspeed motion or heavyduty transportation are required for mobile robots, the description of the robot kinematics model is not comprehensive, and it is necessary to consider the robot dynamics model. Based on the work of reference [16], this paper makes an improvement on the kinematic controller by replacing the hyperbolic tangent function tanh(x) by the reference function sin(arctan(x)). This function ensures that the kinematic controller can improve the tracking accuracy of the robot and the distance error will be significantly reduced. Simultaneous position tracking, line speed and angular velocity tracking on the X and Y axes are achieved. Finally, the results of simulation experiments in three cases show that the tracking precision in this paper is obviously superior to the reference [16], and it has stronger robustness and better anti-jamming performance.