Mobile Robot Modelling and Design of Kinematic Controller for trajectory tracking.

Forever and ever, autonomous mobile robots are an object of discussion but nowadays it’s an emerging topic due to the all progress related to field like autonomous driving. A mathematical model is very critical to begin in the mobile robotics field, that’s why this paper provides a mathematical model of unicycle mobile robot with two wheels is determined by kinematic and dynamic model. Also, a kinematic controller was designed and improved. This is the first step in research based on mobile robotics to find optimal and improved solutions for autonomous vehicles. The effectiveness of the simulated code is demonstrated by simulating a two-wheeled unicycle mobile robot using Matlab code and simulations.