Simulation of an optical tracking control system of a differentially-driven wheeled robot
by Loren Yeo, Sabu John, John Mo
International Journal of Computer Aided Engineering and Technology (IJCAET), Vol. 2, No. 1, 2010

Abstract: Reliable tracking control of autonomous wheeled mobile robots has long been a goal of researchers. To improve tracking precision, expensive sensor systems along with complicated algorithms are often used. This paper proposes a relatively simple and inexpensive method that maintains a good level of accuracy. This is accomplished by the use of optical sensors that are found in the common computer mouse. An additional advantage of this set-up is that the basic friction circle can be used instead of complex friction modelling. The entire system is dynamically modelled in MATLAB^® and Simulink^®.

Online publication date: Mon, 30-Nov-2009

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