TY  - JOUR
PY  - 2016//
TI  - Modelling and trajectory tracking of wheeled mobile robots
JO  - Procedia technology
A1  - Leena, N.
A1  - Saju, K. K.
SP  - 538
EP  - 545
VL  - 24
IS  - 
N2  - Differential drive mobile robots are widely used due to their simplicity, easiness of control and flexibility. This paper discuss a detailed modeling of a differential drive robot taking into account the kinematics, actuator dynamics and rolling resistances of the wheels. Controllers have been designed for smooth trajectory tracking. Different trajectories similar to real life scenarios have been created and the model and control algorithm are seen to give accurate trajectory tracking.<p />  <p>Language: en</p>
LA  - en
SN  - 2212-0173
UR  - http://dx.doi.org/10.1016/j.protcy.2016.05.094
ID  - ref1
ER  -