Development of Waypoint Tracking Controller for Differential Drive Mobile Robot

Mathew, Robins; Hiremath, Somashekhar S.

doi:10.1109/codit.2019.8820389

Cited by 5 publications

(4 citation statements)

References 18 publications

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“…Wheeled mobile robots are employed for inventory management, factory automation, military surveillance, etc. These robots are classified into different categories, such as car-like robots, omnidirectional robots, and differential drive robots; of which differential drive robots are a prominent class [1].…”

Section: Differential Drive Wheeled Mobile Robotsmentioning

confidence: 99%

“…An important issue of the differential driving of mobile robots which needs considering is that their motion controller design is mostly based on kinematic models. The main reason is that dynamic models are more complex than kinematic models and mobile robots usually use only the low speed of the motor to control the loop [1].…”

Section: ) Kinematic Modelmentioning

confidence: 99%

“…6, the DDWMR follows a path connecting the waypoints from a source qw0 = (xw0, yw0) to a destination qwn = (xwn, ywn) through a set of intermediate waypoints qwk = (xwk, ywk), k = 1, 2, … , n -1 [1]. In the paper [1], Robins Mathew has mentioned the controller proposed by Kanayama, which is one of the most popular controllers in case of trajectories with continuous curvature. This control equation is given in (29) and (30).…”

Section: Advanced Controller By Kanayama and Robins Mathewmentioning

confidence: 99%

“…However, it should be mentioned that the circular arc function does not fit all possible paths, which the robot might be required to take [12]. These problems have been studied and solved by several different control algorithms that were presented in some papers, such as the controllers proposed by Kanayama and Robins Mathew [1], a feedback-based control for circular path [12], the Lyapunov-based method [25], a clever trigonometry-based control [24], a fuzzy logic control [24], and a Dubins path-based control [16].…”

Section: Introductionmentioning

confidence: 99%

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Energy Comparison of Controllers Used for a Differential Drive Wheeled Mobile Robot

et al. 2020

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In order to select the best controller for a Differential Drive Wheeled Mobile Robot (DDWMR), an energy consumption comparison relating to tracking accuracy is used as a very strict criterion. Therefore, this paper reviews some well-known controllers designed for the DDWMR. Furthermore, there are presented several experiments with the extensible open-source code programmed in Python. Such an extensible open-source code presentation could serve as a tool for simulating, comparing, and evaluating a set of different control algorithms. The kinematic and dynamic models of the DDWMR and control algorithms are implemented in this open-source code to determine a travel time, a distance between the robot's position and a given path, a linear velocity, an angular velocity, a travel path length, and a total kinetic energy loss of the DDWMR. These simulation results are used to compare and evaluate the given control algorithms. Moreover, the simulation results also enable to answer the question of whether a significant increase in energy consumption is worth shortening the travel path by just a bit. Finally, this paper includes a direct link to the stored experiments which are runnable and could serve as a proof. Besides, users can also easily supplement with other controllers and different paths to evaluate robot tracking control algorithms.

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Section: Differential Drive Wheeled Mobile Robotsmentioning

confidence: 99%

Section: ) Kinematic Modelmentioning

confidence: 99%