Research on Trajectory Tracking Control of Mobile Robots
The differential drive mobile robot is a nonlinear dynamic system with nonlinearity,strong cou-pling,underactuation and external disturbance.This article focuses on the problem that the center of mass and the geometric center of the non-holonomically constrained differential drive mobile robot(WMR)do not coin-cide,and the kinematics and dynamics model of the mobile robot are modeled,and the correctness of the model is verified.Based on the equations of the kinematics and dynamics model,a kinematics controller was designed and a simulation study was conducted to illustrate the correctness of the control method.
NonlinearDifferential drive mobile robotKinematic modelDynamic modelController
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