Kinematics, Localization and Control of Differential Drive Mobile Robot

Kinematics, Localization and Control of Differential Drive Mobile Robot

Sandeep Kumar Malu

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Jharna Majumdar

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α Visvesvaraya Technological University

Kinematics, Localization and Control of Differential Drive Mobile Robot

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Abstract

The present work focuses on Kinematics, Localization and closed loop motion control of a differential drive mobile robot which is capable of navigating to a desired goal location in an obstacle free static indoor environment. Two trajectory planning approaches are made (i) the robot is rotated to eliminate orientation error and then translate to overcome distance error (ii) Both rotational and translational motion is given to the robot to overcome orientation and distance error simultaneously. Localization is estimated by integrating the robot movement in a fixed sampling frequency. The control law is based on kinematics model which provides updated reference speed to the high frequency PID control of DC motor. Stability of proposed control law is validated by Lyapunov Criterion. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation on a two wheeled differential drive mobile robot using an 8-bit microcontroller.

References

11 Cites in Article

Reference Format

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Sandeep Kumar Malu. 2014. \u201cKinematics, Localization and Control of Differential Drive Mobile Robot\u201d. Global Journal of Research in Engineering - H: Robotics & Nano-Tec GJRE-H Volume 14 (GJRE Volume 14 Issue H1): .

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GJRE Volume 14 Issue H1
Pg. 1- 7

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

differential drive robot Kinematics lyapunov stability theory odometric localization PID speed control

Submission ReceivedDecember 11, 2013
Peer Review Double Blind
Handling Editor
Accepted January 2, 2014
Published January 15, 2014

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v1.2

Issue date

November 19, 2014

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Article Matrices

Total Score: 102

Country: India

Subject: Global Journal of Research in Engineering - H: Robotics & Nano-Tec

Authors: Sandeep Kumar Malu, Jharna Majumdar (PhD/Dr. count: 0)

View Count (all-time): 261

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Publish Date: 2014 11, Wed

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Total Views: 4615

Total Downloads: 2254

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