The path following control analysis for 4-wheel differential omnidirectional mobile robot
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Abstract:
The path following control of a new type of 4-wheel differential omnidirectional mobile robot is studied. Based on the kinematics model and the artificial driving thought, a new kind of control method, i.e. following two reference point, which is different to the traditional following single point method, is designed. The proposed method adopts master-slave control model of the front and rear differential unit and separates the angular velocity control and velocity control of the differential unit to independently design the fuzzy controller. At last, the most representative path, the sine curve path following is simulated and the results show that the following control strategy is feasible, small overshoot, rapid responding and resolves the complex system with high degree of coupling in the following single point control.
