engleski

A Trajectory Tracking Controller For Mobile Robot With Differential Drive

In this paper a trajectory tracking controller is proposed for the mobile robot with differential drive. Its main features are simplicity and robustness, which are beneficial features for real-time implementation. Moreover, the controller doesn't suffer from singularity problems. The controller is decentralized, with independent control of robot longitudinal motion and steering. Output of the designed controller consists of ideal reference values for left and right wheel speeds that are obtained from trajectory generator, and two additional terms, one for longitudinal error compensation and one for lateral error compensation. Experimental results obtained on a small-size mobile robot developed for robot soccer demonstrate good behavior of proposed controller.

Robotics; nonholonomic wheeled mobile robots; trajectory tracking

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