Autonomous Trajectory Tracking for a Differential Drive Vehicle

Sammanfattning: This paper explores controlling a two-wheeled differential drive vehicle using path planning algorithms and potential fields in order to track a target area while avoiding obstacles. Additionally, formation control was investigated using potential fields and a virtual structure approach separately. Finally, analysis of communication constraints in the form of sampling, disturbances and quantization are taken into account and theoretical or analysis results are given. It was concluded that the potential fields method result in an intuitive and dynamic controller that can be used to navigate within a large-scale and dynamic environment, as well as be used for formation control. The virtual structure approach is more robust when dealing with formation control, but it does not consider obstacle avoidance on its own.