| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 490693 | Procedia Technology | 2016 | 8 Pages |
Abstract
Differential drive mobile robots are widely used due to their simplicity, easiness of control and flexibility. This paper discuss a detailed modeling of a differential drive robot taking into account the kinematics, actuator dynamics and rolling resistances of the wheels. Controllers have been designed for smooth trajectory tracking. Different trajectories similar to real life scenarios have been created and the model and control algorithm are seen to give accurate trajectory tracking.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Science (General)
Authors
N. Leena, K.K. Saju,