Sensorless position and speed control of differential drive mobile robot
Abstract
Differential Drive Mobile Robot is one of the most common and widely used mobile robots. It tracks the desired path depending on its velocity and position information come from various kind of sensors, which detect the robot movement regardless the reasons of the motion (actuators).Differential Drive Mobile Robot is one of the most common and widely used mobile robots. It tracks the desired path depending on its velocity and position information come from various kind of sensors, which detect the robot movement regardless the reasons of the motion (actuators). This research uses Sensorless control based on studying the actuator’s behaviors, choosing the parameters that express its output, finding the relationship between these parameters and the mechanical variables of the robot, and using them in driving the robot to its goal. This research could increase the efficiency of the DC motor and drive robot to its target with acceptable accuracy. Which open doors at further work on monitoring the performance of electrical actuators and get more comprehensive information about the robot to benefit from them to improve the robot performance.
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