Position Control of Differential Drive Mobile Robot - Complete Tutorial with Simulation Animation

#robotics #roboticstutorials #roboticstraining #roboticsengineering #slam #pygame #mechanicalengineering #mechatronics #roboticseducation #automation #plc #controlengineering #kinematics #mechanics #dynamics #dynamicalsystems #electricalengineering #aerospacetutorials #aerospace #machinelearning #controltheory #optimalcontrol #optimization
Professional ROS1/ROS2 courses and training: cyberneticsste...
The Python code files used to implement the controller and generate the animation are given here (a fee is required):
ko-fi.com/s/5e...
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In this control engineering and robotics tutorial, we explain the basics of position controllers for mobile robots. As a test case, we use a differential drive robot. Differential drive robots are also called differential wheeled robots. We design a simple proportional controller that will drive the robot center from the initial to the desired location. We use a kinematics robot model developed in our previous tutorial to simulate the robot’s motion. We explain how to generate a 2D Pygame animation that simulates the robot’s motion and control performance. Here, it should be kept in mind that we develop a controller that is based on the kinematics of the robot without taking into account the robot’s dynamics described by mass, moments of inertia, and dynamics equations.

[@aleksandarhaber]

The Python code files used to implement the controller and generate the animation are given here (a fee is required):
ko-fi.com/s/5e3bd8cf32
Professional ROS1/ROS2 courses and training: cyberneticsstemacademy.com/course-category/all-ros-courses/?tutor-course-filter-category=40
It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- Buy me a Coffee: www.buymeacoffee.com/AleksandarHaber
- PayPal: www.paypal.me/AleksandarHaber
- Patreon: www.patreon.com/user?u=32080176&fan_landing=true
- You Can also press the Thanks UA-cam Dollar button

[@siimoch3161]

Thanks a lot, came in time

[@siimoch3161]

Can we get the codes?

[@aleksandarhaber]

@@siimoch3161 the codes are not free

[@siimoch3161]

Will u make a video for the trajectory control for this robot?

[@aleksandarhaber]

@@siimoch3161 yes, however the video will not be free, it will only be available for students who pay the fee.

[@siimoch3161]

Okay thanks, if it's not expensive i can pay for it

[@dter706]

The system is still coupled right? How can you decouple the system to achieve the same result?

[@aleksandarhaber]

I do not understand. There is no coupling or decoupling, look at the differential equations.