Design and Modeling of a Two-wheeled Differential Drive Robot
Published in International Journal of Control, Automation and Systems, 2024
There are many existing publications on balancing two-wheeled, differential drive robot (TWDDR) covering dynamic modeling, kinematic modeling, path planning, control architecture design and/or simulations. However, there are few papers that cover all of these in a comprehensive manner that is approachable to beginner robotics researchers. This paper provides step-by-step details of the robotic design process including dynamic modeling, kinematic modeling, linearization, autonomous navigation, path planning, and stability control. A cascaded PID control architecture is presented that is capable of stabilizing the robot in less than 1 s with minimal steady-state error and performing large force and torque disturbance rejection. Additionally, a high-level path planning algorithm based on artificial potential fields is demonstrated.
Recommended citation: Moritz, J., Musa, M. & Wejinya, U. Design and Modeling of a Two-wheeled Differential Drive Robot. Int. J. Control Autom. Syst. 22, 2273–2282 (2024). https://doi.org/10.1007/s12555-023-0288-8
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