Improving navigation of an Autonomous Mobile Robot using System Identification and Control

摘要

In this paper we present improvements in the track following of a differential drive autonomous robot system using system identification and control. The robot is made of industrial components and its main goal is to participate in mobile robotic competitions as well as to be used as a testbed for research and education experiments. The improvement of performance obtained by applying a controller, whose design is based on the system identification, is shown. The obtained model allows the design of a controller that improves the performance of the autonomous mobile robot, which is the main motivation in this paper. The results presented compare the performance before and after the controller design and implementation were performed. A practical approach in the identification of the robots system is presented, from the data acquisition to the controller's implementation on the mobile robot.