Solutions for Modeling and Control in Mobile Robotics

Abstract

This work presents some considerations regarding mathematical models and control
solutions for a class of mobile robots namely two-wheel differential drive mobile robots, one of the
most utilized mechanical structures now in mobile robotics practice. The closed loop control
diagrams for position control and respectively for direction control in tracking along imposed
trajectories are developed, analyzed and included in this paper. For these control solutions, the
paper presents therefore some analyses regarding the stability in different circumstances. In
addition, direct and inverse cinematic models for this class of mobile robots are included.