Differential Drive Mobile Robot Trajectory Tracking With Using Pid and Kinematic Based Backstepping Controller

Abstract

ABSTRACT:In this study, the mathematical model of a nonholonomic vehicle was derived. A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory. The KBBC was used to overcome the nonlinearity of the trajectory tracking and the PID controllers was used for the DC motors' speeds adjustments. Responses of the vehicle's controller in the square shaped trajectory had obtained and results were graphically presented. The effectiveness of the designed controller has been discussed.

Trajectory Control of Designed Experimental Mobile Robot

“…Two controllers have been compared, and studies have been performed to demonstrate the effectiveness of the predictive controller with kinematic and dynamic models. Demirbaş and Kalyoncu [9] have designed PID and kinematic based backstepping controller by obtaining a mathematical model of a non-holonomic mobile robot. They used PID controller for speed control of motors, backstepping controller for trajectory tracking.…”