Modelling, Simulation and Navigation of a Two-Wheel Mobile Robot using Pure Pursuit Controller

Abstract

Recently, the field of mobile robotics have witnessed an unprecedented expansion due to their vast applications that range from surveillance and construction to planetary exploration and emergency rescue operations. Their tasks became more and more complex that their autonomy became essential in the majority of the applications which means that devising controllers that suit different scenarios and situations is of importance. In this project, we aim to control the velocity of a modelled 2-wheel differential drive robot by using a PSO optimized PID controller. In addition to speed control, in order for a robot to move to specific waypoints by itself, a path planning algorithm has to be implemented. Pure pursuit, a simple yet efficient path tracking method for nonholonomic ground vehicles is utilized.