Motion Control of a Differential Drive Mobile Robot Considering Voltage and Current Limits

Abstract

The mobile robot trajectory tracking problem, whereby a controller is responsible for ensuring a robot follows a predetermined trajectory is investigated in this work. Several different algorithms are implemented as the controller for a differential drive wheeled robot in this study, and their performances are examined across different operating conditions using several performance measures. Specifically, we implement proportional, integral, and derivative controls, as well as sliding-mode control and model predictive control, and observe their control performance in ideal, tuned operating conditions, as well as in the face of varying levels of sensor noise, actuator saturation due to voltage and current constraints, or wheel slippage in one or both wheels. Background on the kinematic model of the differential drive wheeled robot as well as the implementation and tuning of the controllers are included in this work. Furthermore, we present a discussion of the advantages and limitations of each controller in the face of varying circumstances for the task of controlling a differential drive wheeled robot.