Mathematical Modelling and Control of a Mobile Robot for Path Tracking

An autonomous robot is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner. The trajectory tracking task in non holonomic systems can be performed through differentiable control laws. A solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a Kinematic Controller is implemented here. The most important feature of this work is that the complete modelling and control is done in simscape software which employs physical network approach which differs from standard simulink modelling approach and is particularly suited to simulate systems that consist of real physical components. Thus modelling is done with MATLAB- SIMSCAPE in which physical units for parameters and variables and all unit conversions are handled automatically.