Theoretical aspects in wheeled mobile robot control

This work presents some considerations regarding mathematical models and control solutions for a class of mobile robots namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The closed loop control diagrams for position control and respectively for direction control in tracking along imposed trajectories are developed, analyzed and included in this paper. For these control solutions, the paper presents therefore some analyses regarding the stability in different circumstances. In addition, direct and inverse cinematic models for this class of mobile robots are included.