Control of Two-Wheel Mobile Robots Using Doppler Microwave Sensors

Abstract

This paper describes a control system for two-wheeled mobile robots capable of moving in rooms in an autonomous mode without using satellite navigation signals. The movement takes place along a given route, maneuvering is carried out using an electronic differential that controls the speeds of rotation of both wheels. In this case, the control of the control parameters of the movement is carried out not by odometers or rotation sensors, but by microwave Doppler sensors. This enables a direct measurement of the linear speeds of the wheels. The algorithm of operation of the proposed control system when performing maneuvers and moving along the selected trajectory is described. An increase in the accuracy of movement along the route is noted in comparison with traditional control methods.