Abstract
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low’ level controller. The second level is developed to take care of path planning and trajectory generation.
Highlights
Mobile robots have been used in many application such as moving material between work stations
Some research has addressed some topics related to dynamic characteristics of the motion which are essential to path tracking objective
This paper presents the work that has been done to explore the issue of dynamic modelling and motion control under varying loading conditions
Summary
Mobile robots have been used in many application such as moving material between work stations. Cross coupling effects between the two drive motors can be compensated for and this provides for a further degree of accuracy in the path following objective In the face of varying conditions, autonomous adaptation requires that some measure of performance is made available. For the vehicle this will be in the form of position, orientation and wheel speed measurements. This feedback will enable both ‘low’ and ‘high’ level adaption of the vehicle motion in order to suit new conditions enabling the motion to be optimized continuously without reduction in efficiency and/or loss of stability
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