Akademik Veri Yönetim Sistemi
2rd INTERNATIONAL CONFERENCE ON PROGRESSES IN AUTOMOTIVE TECHNOLOGIES: ICPAT 2020, İstanbul, Türkiye, 28 - 29 Aralık 2020, ss.41-48, (Tam Metin Bildiri)
Differential drive mobile robot (DDMR) is the most commonly used autonomous land vehicle type for small scale
trajectory planning and tracking applications. In this study, two driven wheeled and one castor wheel included
DDMR model is used for kinematic and dynamic modelling. In trajectory tracking stage, kinematic based
backstepping control (KBBC) is operated in order to reduce robot pose (position and orientation) error via
kinematic model of the system. Sliding mode control (SMC) and proportional–integral–derivative controller (PID
control) are separately implemented to the dynamic model for controlling dc motors of wheels which is requisite
for tracking of given reference trajectory. Mathematical modeling of the DDMR and control strategies are
simulated in software and results demonstrate that both SMC and PID control strategies with KBBC provide
robust, smooth and accurate trajectory tracking performance. Because of the better SMC error performance in this
study, it is foreseen that SMC can be better choice for more complex trajectory and environment conditions.