In order to select the best controller for a Differential Drive Wheeled Mobile Robot (DDWM
R), an energy consumption comparison relating to tracking accuracy is used as a very stric
t criterion. Therefore, this paper reviews some well-known controllers designed for the DD
WMR. Furthermore, there are presented several experiments with the extensible open-source
code programmed in Python. Such an extensible open-source code presentation could serve as
a tool for simulating, comparing, and evaluating a set of different control algorithms. T
he kinematic and dynamic models of the DDWMR and control algorithms are implemented in thi
s open-source code to determine a travel time, a distance between the robot’s position and
a given path, a linear velocity, an angular velocity, a travel path length, and a total k
inetic energy loss of the DDWMR. These simulation results are used to compare and evaluate
the given control algorithms.Moreover, the simulation results also enable to answer the q
uestion of whether a significant increase in energy consumption is worth shortening the tr
avel path by just a bit. Finally, this paper includes a direct link to the stored experime
nts which are runnable and could serve as a proof. Besides, users can also easily suppleme
nt with other controllers and different paths to evaluate robot tracking control algorithm
s.