Characterization and Optimization of Trajectory Errors on Remote-Controlled Differential Drive Robot through Speed Calibration

ABSTRACT

An increase in interest in research projects which involves the design of robotic systems that minimizes interactions between humans has been caused by the COVID-19 outbreak, as such technology can greatly benefit healthcare industries in preventing the spread of highly infectious diseases. The utilization of remote-controlled robots in many different fields, especially in the medical field is becoming more and more necessary. However, mobile robots are susceptible to both systematic and nonsystematic errors that cause deviations in its trajectory. In view thereof, the researchers explored the possibility of minimizing the trajectory errors through speed calibration. The differential drive robot was navigated to finish a five-meter linear path of forward and backward motion. The test was conducted with a default linear speed of 0.5 m/s in which a high trajectory error was observed. Upon changing the speed of the robot, the same trajectory test was conducted at four additional different speeds, namely;0.25 m/s, 0.35 m/s, 0.65m/s and 0.75 m/s. With the gathered data, the researchers conducted a linear least-squares regression model using MATLAB wherein there is only one predictor variable (speed of the robot) and one response variable (deviation). Based on the results, the researchers concluded that the speed of 0.35 m/s is the optimal speed in which the trajectory error of the robot is minimal. The researchers recommend improving the design of the caster wheels to minimize the effects of nonsystematic errors. © 2022 IEEE.