Differential Control for Mobile Robots

In our graduate robotics control theory course assignment, we investigated differential control for wheeled mobile robots. This control method regulates the rotational speed difference between two wheels to enable directional changes without altering the robot's orientation. Implementing this approach requires understanding complex mathematical and engineering concepts including kinematics, dynamics, and PID control algorithms. During our study and mastery of these concepts, we conducted simulations and experimental tests using MATLAB/Simulink environments, where we implemented forward and inverse kinematic models to translate wheel velocities to robot motion. The control system incorporated PID regulators with velocity feedback loops to maintain stable trajectory tracking. Through systematic validation, we derived practical implementation techniques and conclusions that enhance the precision of wheeled mobile robot navigation. Key functions developed included odometry calculation routines and motor control interfaces that demonstrated real-time performance optimization.