Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Differential drive wheeled mobile robot (DDWMR) is one example of a with constrained movement, Multiple Input Output (MIMO), and nonlinear system. Designing low resource position heading controller using linear MIMO methods such as LQR became problem because the linearization dynamics at zero value. One solutions to design Single (SISO) controller. This work PID for DDWMR Jetbot selects best feedback gain different scenarios. The designed manipulates both motors by calculated control signal achieve complex task path tracking in x-Axis, y-Axis, angle feedback. priority between can be adjusted changing three gains. was tested, selected Integral Absolute Error (IAE) metrics four shapes. proposed track square, circle, two types infinity shape paths, less well-formed being edges square path.