Evaluating different Kinematic Models of Mobile robots using Linear and Non-linear controls

摘要

This paper highlights different control algorithms for reaching a goal position with least possible error with different kinematics models like Ackerman Steering and Differential Drive mobile robots. Linear and non-linear control approaches for both models will be discussed. In analyzing Ackerman mobile robots, the primary focus will be on its steering mechanism as it is the main source of reaching to its final position with little emphasis on its speed variable. However, while working on a Differential Drive, no such provisions will be considered as both rear wheels are responsible for linear as well as angular velocities. Further, the comparative analysis of different controllers will be presented. The efficacy of the controllers with both the models are validated in the CoppeliaSim simulator connected to Matlab via remote API.