Modeling and Motion Control of a Mobile Wheeled Robot at Low Speeds

Abstract

The article deals with the issue of modeling and motion control of a mobile wheeled robot at low speeds. Attention is focused on the basic methods of mobile robot control, namely synchronous steering, Ackermann steering, and differential drive control. The main emphasis is placed on differential drive control, which is suitable for small mobile robotic platforms due to its design, good maneuverability, and ability to rotate in place. The article describes the kinematic and dynamic model of a mobile robot, taking into account quantities such as position and orientation. The proposed solution also includes the design of a control loop that enables the control of the angular velocities of the wheels and the tracking of a desired trajectory. The proposed simulation model was created in the MATLAB/Simulink environment and divided into subsystems describing kinematics, dynamics, control, and velocity transformation. The practical part of the article is devoted to the structural design and implementation of an experimental prototype of a mobile robot. The result is a functional prototype suitable for verifying the principles of mobile robotics, regulation, and motion control under real conditions.