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Modeling and path-tracking control of a mobile wheeled robot with a differential drive
R. M. DeSantis
Journal:

Robotica / Volume 13 / Issue 4 / July 1995

Published online by Cambridge University Press:

09 March 2009, pp. 401-410
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Topics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.