DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER

摘要

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.