Motion Planning of Differential Drive Mobile Robot Using Circular Arc

In modern applications, mobile robots are important dynamic systems. Motion planning is a crucial responsibility for these robots as it enables them to move from one place to another safely and efficiently. Extensive research has been conducted on motion planning for static scenarios. However, research is limited when the scenarios are dynamic because it is difficult and expensive to continuously replan the robot's moves to ensure its safety. This paper presents the circular arc path algorithm for sensorless differential drive mobile robot movement, given that the initial point and endpoint are defined. The differential drive mobile robot, which is adopted for various vehicles and robots, is very popular due to its simple operation and robustness. A mobile robot with two driving wheels that uses a differential drive splits its overall velocity between its left and right wheels. Accordingly, the radius of the circle that forms after movement between two points is the main factor that determines the left and right velocity of the robot's wheels. Through this algorithm, all points will be interpolated with G1 continuity, which only requires an initial direction to move. Robot simulation is performed using CoppeliaSim, and the algorithm is developed using Remote API functions in Matlab.