Close loop control of non-holonomic WMR with augmented reality and potential field

Abstract

Aim of this paper is to develop a non-holonomic differential robotic platform with PID velocity control for both wheels and 3D augmented reality based optical localization system to test standard navigation algorithms like potential field and cell decomposition. A mobile robot is modeled in simulink and the hardware is designed accordingly. The robot is localized in the arena by Unity based 3d localization system, optimal path is generated by Potential field algorithm from which individual wheel velocities are calculated. The velocity command is sent to the robot by xbee modules. Robot is continuously localized and an outer position control loop is utilized to bring back the robot into the correct path if it is deviated from the pre-generated path.