Kawther K Younus,Nabil H Hadi,




Mobile robot,Nonholonomic,DDWMR,Grid graph,Experimental,


This work studies the trajectory tracking of a non-holonomic WMR experimentally. Experimental work includes two parts where part one involves path tracking for some desired shapes, while the second part includes path planning and obstacle avoidance in the considered environment. Different cases of the trajectory were studied such as (straight line, circular, elliptical, squared, and triangular shape trajectory) utilizing Python programming. Also, the image processing technique and gird graph method had been used for the study two cases of path planning with different obstacles and position of obstacles, also with different start and goal points. On the other hand, the number of obstacles between the two cases is not the same and the shape of obstacles is uniform or non-uniform, also different size of obstacles were considered where the robot should avoid these obstacles and reach the goal point.The errors had been calculating adopting on the encoder. Results showed a very good match between the simulation and the desired trajectory. Also, the grid graph method was efficient in path planning and obstacle avoidance.


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