Kinematic model based path tracking algorithm for differential drive mobile robots

摘要

In this study, it was studied on a path tracking method which is based on fuzzy logic, PI and P control for 4-wheeled differential drive autonomous mobile robots. Major problem is to force the mobile robot which is assumed to be located on a static map, to track a path that was planned by planning algorithms on the same map. Therefore, a mobile robot simulator was developed regarding a real mobile robot's mechanical and physical specs. The developed method was tested on this simulator by using the control algorithms. Performance criterions were given as the length of the route taken by the robot and tracking duration.