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In this control engineering and robotics tutorial, we explain the basics of position controllers for mobile robots. As a test case, we use a differential drive robot. Differential drive robots are also called differential wheeled robots. We design a simple proportional controller that will drive the robot center from the initial to the desired location. We use a kinematics robot model developed in our previous tutorial to simulate the robot’s motion. We explain how to generate a 2D Pygame animation that simulates the robot’s motion and control performance. Here, it should be kept in mind that we develop a controller that is based on the kinematics of the robot without taking into account the robot’s dynamics described by mass, moments of inertia, and dynamics equations.
