Modelling and control aspects of specific mobile robot

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 dia-grams for position control and respectively for direction control in tracking along imposed trajectories are also ana-lyzed and included in this paper. For these control solu-tions, the paper presents therefore some analyses regarding the stability in different circumstances.