Dynamic and Kinematic Models and Control for Differential Drive Mobile Robots (original) (raw)
Related papers
Kinematics, Localization and Control of Differential Drive Mobile Robot
Global Journal of Research In Engineering, 2014
The present work focuses on Kinematics, Localization and closed loop motion control of a differential drive mobile robot which is capable of navigating to a desired goal location in an obstacle free static indoor environment. Two trajectory planning approaches are made (i) the robot is rotated to eliminate orientation error and then translate to overcome distance error (ii) Both rotational and translational motion is given to the robot to overcome orientation and distance error simultaneously. Localization is estimated by integrating the robot movement in a fixed sampling frequency. The control law is based on kinematics model which provides updated reference speed to the high frequency PID control of DC motor. Stability of proposed control law is validated by Lyapunov Criterion. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation on a two wheeled differential drive mobile robot using an 8-bit micro...
Advances in Robotics & Automation, 2013
This paper presents a unified dynamic modeling framework for differential-drive mobile robots (DDMR). Two formulations for mobile robot dynamics are developed; one is based on Lagrangian mechanics, and the other on Newton-Euler mechanics. Major difficulties experienced when modeling non-holonomic systems in both methods are illustrated and design procedures are outlined. It is shown that the two formulations are mathematically equivalent providing a check on their consistency. The presented work leads to an improved understanding of differentialdrive mobile robot dynamics, which will assist engineering students and researchers in the modeling and design of suitable controllers for DDMR navigation and trajectory tracking.
Modeling, simulation and control of a differential steering type mobile robot
This paper presents the modeling and control of a differential steering type mobile robot by using ADAMS/MATLAB Co-Simulation with the aim of establish the robot's movement from a start point to an end point. The simulation model of the mobile robot is obtained by using MSC ADAMS software, and a PD control with velocity feedback is implemented with MATLAB/Simulink software. The simulation model of the differential steering type mobile robot was validated by testing out the robot's movement through different point-to-point trajectories as well as multi-point trajectories and analyzing the position error obtained in each trajectory. Robustness tests were performed to verify the performance acceptable of the implemented controller.
Mathematical model of differentially steered mobile robot
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.
Modeling and Simulation of Differential Drive Mobile Robotics System
2005
The growing trend of robotics and automation beyond the boundary of industrial applications has resulted the emerging of mobile robotics study. Due to the multidisciplinary nature and complexity of robotics system, the design and development of mobile robotics system is generally depends upon cutting edge technologies and hence it is relatively time consuming and costly. One effective solution is to develop a platform to simulate the system design before hardware implementation.
Trajectory Control for Differential Drive Mobile Manipulators
arXiv (Cornell University), 2023
Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for computing actuator commands for such systems so that they can follow desired end-effector and platform trajectories without the violation of the nonholonomic constraints of the system in an indoor warehouse environment. We work with the Fetch robot which consists of a 7-DOF manipulator with a differential drive mobile base to validate our method. The major contributions of our project are, writing the dynamics of the system, Trajectory planning for the manipulator and the mobile base, state machine for the pick and place task and the inverse kinematics of the manipulator. Our results indicate that we are able to successfully implement trajectory control on the mobile base and the manipulator of the Fetch robot.
Adaptive Velocity Control for a Differential Drive Mobile Robot
2018 20th International Symposium on Electrical Apparatus and Technologies (SIELA), 2018
A nonlinear feedback path controller for a differential drive mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The control law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability theory. Simulation results are presented to illustrate the effectiveness of the proposed controller.