Trajectory tracking of a nonholonomic mobile robot

Differential mobile robot is used for high maneuverability, less traction and for low power consumption. They are employed in various fields such as industrial, space and experimental activities. They have low rolling friction and high durability. In my research, simulation is carried on a differential robot based on dynamic equations of slip which are sum of lateral and longitudinal forces between tires and ground.;Slip angles and slip velocities of robot is obtained by use of pacjeka magic formula lateral and longitudinal velocities are obtained by the rotational matrix and the velocity transformations at the wheel center and the contact point of the wheel and the ground, and also considering the dynamics of DC motors.;Tracking controller is used for the control of robot during errors between the reference position and the current position coordinates. Tracking controller is hybrid of feed-forward and feedback control laws. Controller is used for the accurate path tracking of the wheeled mobile robot. PID controller is used for supplying the voltages of left and right wheels of the robot. Voltages generate the required angular velocities and velocity of the robot. Robust adaptive controller is also tested on the robot. Tracking of the Trajectory is done and resultant graphs are evaluated.