Mathematical Model of Differentially Steered Mobile Robot
F. Dušek, D. Honc, P. Rozsival
University of Pardubice
Abstract
Paper deals with dynamic mathematical model of an ideal differentially steered drive system (mobile robot) planar motion. The aim is to create model that describes trajectory of a robot’s arbitrary point. The trajectory depends on supply voltage of both drive motors. Selected point trajectory recomputation to trajectories of wheels contact points with plane of motion is a part of the model, too. The dynamic behaviour of engines and chassis, form of coupling between engines and wheels and basic geometric dimensions are taken into account. The dynamic model will be used for design and verification of a robot’s motion control in MATLAB / SIMULINK simulation environment.
Full paper
Session
Modelling, Simulation, and Identification of Processes (Poster)
Reference
Dušek, F.; Honc, D.; Rozsival, P.: Mathematical Model of Differentially Steered Mobile Robot. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 18th International Conference on Process Control, Tatranská Lomnica, Slovakia, June 14 – 17, 221–229, 2011.
BibTeX
| @inProceedings{pc2011-023, | ||
| author | = { | Du\v{s}ek, F. and Honc, D. and Rozsival, P.}, |
| title | = { | Mathematical Model of Differentially Steered Mobile Robot}, |
| booktitle | = { | Proceedings of the 18th International Conference on Process Control}, |
| year | = { | 2011}, |
| pages | = { | 221-229}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Tatransk\'a Lomnica, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc11/data/papers/023.pdf}} |