Publication

Abstract : Differential Drive-wheeled mobile robots (DDWMR) exert a substantial influence on mobile robotics due to their efficiency and versatility. These robots, with two independently powered wheels on a common axis, enable control over speed and direction by adjusting relative wheel speeds. The speed of each wheel can be regulated and fine-tuned using different controllers. This paper presents a detailed analysis of implementing a PID (Proportional Integral Derivative) controller for precise speed control in a two-wheel differential drive robot, focusing on a simulation model optimizing performance with Brushless DC (BLDC) motors. Investigating dynamics, kinematics, and crucial factors like wheel slippage, and geometric aspects, the study achieves accurate control over linear and angular velocities. Encoders provide essential feedback for real-time adjustments, and intentional encoder noise is refined using an extended Kalman filter. The study shows that the PID controller is effective, as it accurately reaches a target speed of 2.422 rad/sec, achieving an output velocity of 2.421 rad/sec with a quick response time of 0.3 seconds. The tuning parameters are determined using the Zeigler-Nichols tuning technique and conventional method, highlighting the practical implementation and success of the proposed control system.