Simulation and experimental study of trajectory tracking for differential drive mobile robot

This paper presents a method to design a time-varying parameter PID controller for Bézier trajectory tracking of a differential-drive mobile robot (DDMR). First, the robot's linear error model is established by linearizing around the desired angular velocity of the nonlinear kinematic error model. Then, the variable parameter PID controller is designed to control the DDMR to follow the Bézier trajectory with minor error under the condition of time-varying velocity.