Article: Research on the motion trajectory of wheel differential robot based on Kalman filter Journal: International Journal of Computing Science and Mathematics (IJCSM) 2025 Vol.21 No.4 pp.277 - 288 Abstract: The wheeled differential robot is widely used in the field of robotics for it adopts four-wheel driven differential steering, turns in place with strong power, is good in climbing, sudden starting, and accelerations. In robot motion trajectory planning, due to the problems of noise and sensor data uncertainty, it is difficult to accurately achieve the target position based on the preset motion speed and position. To address this issue, the motion model of the differential vehicle robot was analysed as well as the relationship of position and velocity, the two-level control architecture and proportional, integral, derivative (PID) were analysed. Through the encoder, the current velocity and position were obtained. Finally, the Kalman filtering was used to achieve the accurate trajectory of the robot. The effectiveness of the method was verified through simulating experiments. Inderscience Publishers - linking academia, business and industry through research

Title: Research on the motion trajectory of wheel differential robot based on Kalman filter

Authors: Yunfei Huang; Yubin Zhang; Qiaoling Lu; Jianhui Deng; Zhengyang Xiao; Junxi Liang; Wende Ke

Addresses: Dongguan Power Supply Bureau, Dongguan, 523000, China ' Dongguan Power Supply Bureau, Dongguan, 523000, China ' Dongguan Power Supply Bureau, Dongguan, 523000, China ' Dongguan Power Supply Bureau, Dongguan, 523000, China ' Dongguan Power Supply Bureau, Dongguan, 523000, China ' Dongguan Power Transmission and Transformation Engineering Construction Co., Ltd, Dongguan, 523000, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China

Abstract: The wheeled differential robot is widely used in the field of robotics for it adopts four-wheel driven differential steering, turns in place with strong power, is good in climbing, sudden starting, and accelerations. In robot motion trajectory planning, due to the problems of noise and sensor data uncertainty, it is difficult to accurately achieve the target position based on the preset motion speed and position. To address this issue, the motion model of the differential vehicle robot was analysed as well as the relationship of position and velocity, the two-level control architecture and proportional, integral, derivative (PID) were analysed. Through the encoder, the current velocity and position were obtained. Finally, the Kalman filtering was used to achieve the accurate trajectory of the robot. The effectiveness of the method was verified through simulating experiments.

Keywords: wheeled differential robot; optimisation; noise; trajectory; motion; Kalman filter; PID; proportional; integral; derivative.

DOI: 10.1504/IJCSM.2025.148199

International Journal of Computing Science and Mathematics, 2025 Vol.21 No.4, pp.277 - 288

Received: 07 Jun 2023
Accepted: 01 Jul 2024
Published online: 29 Aug 2025 *

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Title: Research on the motion trajectory of wheel differential robot based on Kalman filter

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