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

Abstract

We conducted an analysis of the kinematic model of a robot with differential drive, in order to raise a robot control strategy. How to make planning more convenient path to achieve the shift from an initial position, established by its initials coordinates in your work surface, as well as an initial orientation of the robot is analyzed; toward a desired end position specified by its coordinates in the end plane, with a final desired direction. Kinematic analysis allows us to know how the variation in speed of both engines differential drive robot, can be used to develop a career, without interfering simultaneously controlling the robot Cartesian position and orientation control. The results of the kinematic analysis were simulated trajectories for various proposals.