Mobile Robot Control based on Kinematics of Differential Drive (DD)

Description

MATLAB and Simulink file mobile robot control based on Differential Drive (DD). 

Kinematics of Differential Drive (DD):

Where
v:       the speed of the reference point;
x, y:   the position of the reference point in 2D plane.
delta: the heading angle of the robot (see figure).

vR:     Right wheel speed (positive: move forward; negative: move backwards)
vL:      Left wheel speed;
b:        length between two wheels (see figure)

Simulation Results :