Simulation of an optical tracking control system of a differentially-driven wheeled robot

摘要

Reliable tracking control of autonomous wheeled mobile robots has long been a goal of researchers. To improve tracking precision, expensive sensor systems along with complicated algorithms are often used. This paper proposes a relatively simple and inexpensive method that maintains a good level of accuracy. This is accomplished by the use of optical sensors that are found in the common computer mouse. An additional advantage of this set-up is that the basic friction circle can be used instead of complex friction modelling. The entire system is dynamically modelled in MATLAB~® and Simulink~®.