Modeling, simulation and control of a differential steering type mobile robot

This paper presents the modeling and control of a differential steering type mobile robot by using ADAMS/MATLAB Co-Simulation with the aim of establish the robot´s movement from a start point to an end point. The simulation model of the mobile robot is obtained by using MSC ADAMS software, and a PD control with velocity feedback is implemented with MATLAB/Simulink software. The simulation model of the differential steering type mobile robot was validated by testing out the robot´s movement through different point-to-point trajectories as well as multi-point trajectories and analyzing the position error obtained in each trajectory. Robustness tests were performed to verify the performance acceptable of the implemented controller.