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Journals / Konya Journal of Engineering Sciences / 2017 / Cilt: 5 Sayı: 1

DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER

PID ve Kinematik Tabanlı Geri Adımlamalı Kontrolcü Kullanılarak Diferansiyel Sürüşlü Robotun Yörünge Takibi

Faik DEMİRBAŞ
Mete KALYONCU
Pages
1–15
Publication Date
2017-03-01
DOI
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

The effectiveness of the designed controller has been discussed.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:In this study, the mathematical model of a nonholonomic vehicle was derived.
📊
Key Findings & Data:A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory.
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Conclusion & Impact:The effectiveness of the designed controller has been discussed.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Diferansiyel sürüş · Yörünge izleme · Holonomik olamayan mobil robot

Abstract

In this study, the mathematical model of a nonholonomic vehicle was derived. A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory. The KBBC was used to overcome the nonlinearity of the trajectory tracking and the PID controllers was used for the DC motors’ speeds adjustments. Responses of the vehicle’s controller in the square shaped trajectory had obtained and results were graphically presented. The effectiveness of the designed controller has been discussed.

Özet

Bu çalışmada, holonomik olmayan bir aracın matematiksel modeli elde edilmiştir. Diferansiyel sürüşlü mobil robotun arzu edilen yörüngeyi takip edebilmesi için PID ve kinematik tabanlı geri adımlamalı kontrolcü tasarımı yapılmıştır. Geri adımlamalı kontrolcü yörünge takibinin doğrusal olmama durumunun üstesinden gelebilmek, PID kontrolcü ise DC motorların hız ayarlamaları için kullanılmıştır. Kare şekilli bir yörüngeni takibi için aracın kontrolcüsünün cevabı elde edilmiş ve sonuçlar grafiksel olarak sunulmuştur. Tasarlanan kontrolcünün etkinliği tartışılmıştır.

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Cite This Article

DEMİRBAŞ, F., KALYONCU, M. (2017). DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. Konya Journal of Engineering Sciences, Cilt: 5 Sayı: 1, 1–15. https://ajindex.com/articles/909373

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References (6)

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