Kinematic Control of an Autonomous Ground Vehicle Using Inverse Dynamics Controller

摘要

In this paper, the kinematics of two-wheel differential drive mobile robot is analyzed and simulated for tracking a reference trajectory. The AGV i s controlled with a combination of PID and a proposed controller depicted from the inverse of actuator dynamics in continuous domain. This inverse dynamics controller helps in compensating the unmodeled nonlinearities in the model, thereby keeping the rotor speed of the DC motor much accurate as required for the mobile robot to follow the reference trajectory. The simulation of the trajectory tracking of a differential drive mobile robot using proposed controller is performed in MATLAB and the results were shown. The results were found to be acceptable and applicable for multi-purpose AGVs for trajectory tracking applications.