Trajectory Planning With A* Algorithm and Tracking With Multiple Controllers

摘要

ABSTRACT This article consists of mathematical modelling of differential drive mobile robot (DDMR), path planning and tracking application via multiple controller usage. Robot kinematic and dynamic models were constructed and simulated in virtual 2D map environment. A* algorithm was applied to the 2D map problem to acquire optimal pathfinding, efficiency and flexibility in trajectory planning stage. After the reference trajectory is obtained by algorithm, the robot needs to be guided using control strategy that manages the speed control of electric motors. At the first part of the control problem, kinematic based backstepping control (KBBC) were used to increase the efficiency of the control system. After that Sliding Mode Control (SMC) and Proportional‐Integral‐Derivative (PID) control strategies were applied to reduce tracking errors between reference and actual coordinate values and heading angle value. To test the robustness and efficiency of control combinations, two different simulation systems were designed using Matlab‐Simulink Software. First system was designed for the non‐disturbance condition, while the second system included disturbance torque and an additional mass applied condition. Test results showcasing the performance of the controllers are presented in the concluding section, through trajectory tracking and error comparison graphs.