Control of the reference posture of a mobile robot with differential type wheels using the intermediate point technique

Abstract

This manuscript aims to implement and evaluate a control approach known as a midpoint to guide a wheeled mobile robot toward a reference position and orientation. Instead of prescribing a specific path, the robot can choose any feasible way to reach the goal.

The method used uses a control algorithm based on the intermediate point. Initially, a controller based on the orientation error and the distance to the target is used to guide the robot towards the desired reference point. The angular velocity  is controlled as a function of the orientation error   . In contrast, the translational velocity  is adjusted in proportion to the distance to the reference point. The kinematic model of the mobile robot with differential-type wheels is used to validate the algorithm.

The control algorithm based on the midpoint technique is verified using a kinematic model of a wheeled mobile robot. A reference posture and an initial posture of the robot are established. The generated trajectory is verified in simulation using the Matlab software and physically using the mobile robot “mbot neo” from the Makeblock company. After several tests, the results show that the robot has reached the specified reference position with the required orientation.