Control strategy of a mobile robot with differential drive based on kinematic analysis

Abstract

Analysis of the dynamic model of a differential drive robot is developed and based on that model, combined with its kinematic model, a control strategy is proposed to develop the robot trajectories starting from a position of equilibrium to another equilibrium position desired end. It arises achieve the objective in moving the robot, dividing the work into three sequential sections, during which only one controller is active at a time. We are referring to two controllers in the supervisory system, a steering control of the robot and another driver distance traveled by the robot. In a first stage, the direction controller changes the direction of the robot from the initial to middle management; that address has to be the one to take the robot to move in a straight line Cartesian position desired. Then the distance from the robot controller, this move an appropriate distance to position it at the desired point and finally Cartesian direction controller, guide the robot to the desired direction.