Controllers design for differential drive mobile robots based on extended kinematic modeling(Conference Paper)

JULIO MONTESDEOCA; DANIEL HERRERA; MARCOS TOIBERO; RICARDO CARELLI

Paris

Conferencia; 2017 European Conference on Mobile Robots, ECMR 2017; 2017

ECMR

This paper presents the simulation results of thecontrollers design for differential-drive mobile robot (DDMR)using a novel modeling method, which is based on the inclusionof the sideway velocity into the kinematic modeling, in order toobtain a holonomic-like model. Next, non-holonomic constraint isintroduced assuming that the sideway slipping is measurable. Thecontroller design considers a variable position for the point ofinterest and takes into account also the robot constrained inputs.The obtained inverse kinematics controller is differentiable, timeinvariant and naturally incorporates the sideway slipping whichis considered measurable. Moreover, the proposed controllercan be used for both: trajectory tracking and path followingby setting appropriate desired values at the planning stage.The Lyapunov theory is used to prove the stability of thecontrol system. Simulator includes a robot dynamics module thatsupports physics engines. Obtained simulations results show ahigh performance for both tasks.