Controllers design for differential drive mobile robots based on extended kinematic modeling

Julio C.Montesdeoca Contreras, D. Herrera, J. M. Toibero, R. Carelli

Research output: Contribution to conferencePaper

3 Scopus citations

Abstract

© 2017 IEEE. This paper presents the simulation results of the controllers design for differential-drive mobile robot (DDMR) using a novel modeling method, which is based on the inclusion of the sideway velocity into the kinematic modeling, in order to obtain a holonomic-like model. Next, non-holonomic constraint is introduced assuming that the sideway slipping is measurable. The controller design considers a variable position for the point of interest and takes into account also the robot constrained inputs. The obtained inverse kinematics controller is differentiable, time invariant and naturally incorporates the sideway slipping which is considered measurable. Moreover, the proposed controller can be used for both: trajectory tracking and path following by setting appropriate desired values at the planning stage. The Lyapunov theory is used to prove the stability of the control system. Simulator includes a robot dynamics module that supports physics engines. Obtained simulations results show a high performance for both tasks.
Original languageEnglish
DOIs
StatePublished - 6 Nov 2017
Event2017 European Conference on Mobile Robots, ECMR 2017 -
Duration: 6 Nov 2017 → …

Conference

Conference2017 European Conference on Mobile Robots, ECMR 2017
Period6/11/17 → …

Fingerprint

Dive into the research topics of 'Controllers design for differential drive mobile robots based on extended kinematic modeling'. Together they form a unique fingerprint.

Cite this