Development of a Path-Tracking Control System Model for an Indoor Mobile Robot Using Odometers and Microwave Sensors

The paper considers the possibility of creating a fully autonomous integrated control system for mobile robots with a differential electric drive. These robots must safely move goods indoors with a digitized map from any arbitrary starting point to a given destination without the use of an external satellite or local navigation system. The model is a robot with a differential drive controlled by two separate electric motors for the right and left wheels. Based on the kinetic and electrical models of the robot, a control algorithm is proposed using the Kalman filter in the feedback of the system. The filter uses wheel odometer readings as a control action and microwave Doppler sensors for measurement. The confident passage of the route by the robot, built in the form of an array of waypoints, is shown in a room with a grid of limited size, digitized by a binary map.