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  • 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.
  • 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. (en)
Title
  • Mathematical model of differentially steered mobile robot
  • Mathematical model of differentially steered mobile robot (en)
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  • Mathematical model of differentially steered mobile robot
  • Mathematical model of differentially steered mobile robot (en)
skos:notation
  • RIV/00216275:25530/11:39892696!RIV12-MSM-25530___
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  • Z(MSM0021627505)
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  • 210889
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  • RIV/00216275:25530/11:39892696
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  • mathematical model; mobile robot; differentially steered drive system (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [9E4BDFB7304D]
http://linked.open...v/mistoKonaniAkce
  • Tatranská Lomnica
http://linked.open...i/riv/mistoVydani
  • Bratislava
http://linked.open...i/riv/nazevZdroje
  • Proceedings of the 18th International Conference on Process Control
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
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  • Dušek, František
  • Honc, Daniel
  • Rozsíval, Pavel
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
http://linked.open...n/vavai/riv/zamer
number of pages
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  • Slovenská technická univerzita v Bratislave
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  • 978-80-227-3517-9
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  • 25530
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