In this paper, a locomotion control of an autonomous mobile robot is considered. A efficient autonomous mobile robot system is designed and constructed. A simpler and shorter feedforward current control method, i.e, velocity control method is presented for the control of motors used in the mobile robot. The nonlinear model for the dynamics and the kinematics of the mobile robot is accurately obtained. Using the obtained model, a suitable controller is proposed for locomotion control for the mobile robot.
Simulation and experiment results show that the proposed controller using nonlinear model has some improvements on the performance compared to linear one. And these results is shown that accurate modeling is very important to accurate position and velocity control of mobile robots.
