Hello, Basudev Mahapatra.
After the path planning, your robot must rely in a controller to follow the desired path or trajectory. There are lots of types of controllers. In the following link you can download a system to simulate some of these controllers in MATLAB, applied to a differential-drive mobile robot. I suggest you take a look on the example called "kinematic_controller_system.slx", that implements a simple trajectory-tracking controller based on the kinematics of the differential drive robot. The controller is based on the robot kinematics, but the robot model used in the simulation considers its dynamics in order to give more realistic results.
If you are interested on understanding how the robot dynamics was modeled and how the controllers were designed, please refer to the following papers:
MARTINS, F. N., Celeste, W. C., Carelli, R., Sarcinelli-Filho, M. and
Bastos-Filho, T. F. An Adaptive Dynamic Controller for Autonomous Mobile Robot
Trajectory Tracking. Control Engineering Practice, v. 16, p. 1354–1363, 2008.
doi: 10.1016/j.conengprac.2008.03.004
MARTINS, F. N., Carelli, R., Sarcinelli-Filho, M. and Bastos-Filho, T. F.
Dynamic Modeling and Adaptive Dynamic Compensation for Unicycle-Like
Mobile Robots. 14th International Conference on Advanced Robotics -
ICAR 2009, Germany, June, 22-26, 2009.
http://www.mathworks.com/matlabcentral/fileexchange/44850-velocity-based-dynamic-model-and-adaptive-controller-for-differential-steered-mobile-robot
Go for a Accelerometer or a gyrometer....based control system...
Hi,
if you have omni-directional moving system then you can control both of position and orientation simultaneously. in omni-directional mobile robots you can access to control of velocity in x,y and theta independently.
however, for feedback control of position and orientation you can use accelerometer and gyroscope data fusion with odometery.
are u familiar with an arduino? some of arduino controller like DUE board can integrate with MATLAB and simulink. you can go to the arduino web page and search about MATLAB supported board for your project.
you also my search on many projects on instructables i am sure you will find on it many project of how to controlling your robot through arduino and matlab like this project : http://www.instructables.com/id/Servo-Motor-Control-Arduino-communication-with-MAT/
you can search for more projects on that website
Also there is a very useful book that can learn you how to control Arduino board through Matlab you can find that book (in Arabic) in this link : http://simplyarduino.com/%D9%83%D8%AA%D8%A7%D8%A8%D9%85%D8%A7%D8%AA%D9%84%D8%A7%D8%A8-%D8%B3%D9%85%D9%8A%D9%88%D9%84%D9%8A%D9%86%D9%83-%D9%88%D8%A7%D9%84%D8%A7%D8%B1%D8%AF%D9%88%D9%8A%D9%86%D9%88-%D9%83%D9%8A%D9%81-%D8%AA/
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