Development of a wheeled mobile robot for path tracking: Using Tinker forge building blocks

This paper presents a novel approach to design and develop a wheeled mobile robot for education and research. A prototype differential wheels controlled mobile robot is developed using Tinkerforge building blocks. It has two independently controlled wheels at the back and one supporting wheel in the front. Tinkerforge building blocks supply a fast, sufficient and affordable solution to construct a prototype model, so students and researchers can quickly focus on the topics they study and test the algorithms on the robot built. We applied odometers for dead reckoning and implemented a closed loop path tracking method based on pure pursuit control algorithms using C++.