Simulation and analysis of pointto-point differential drive mobile robot
A differential drive robot and Path motion point to point are studied and implemented in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is also discussed. The simulation of the mathematical model of the mobile robot was carried out in Simulink by using the Differen...
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| 格式: | Thesis |
| 语言: | English English English |
| 出版: |
2022
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| 主题: | |
| 在线阅读: | http://eprints.uthm.edu.my/6986/1/24p%20SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI.pdf http://eprints.uthm.edu.my/6986/2/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6986/3/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20WATERMARK.pdf |
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| 总结: | A differential drive robot and Path motion point to point are studied and implemented
in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is
also discussed. The simulation of the mathematical model of the mobile robot was
carried out in Simulink by using the Differential Drive Forward Kinematics and
Differential Drive Inverse Kinematics blocks to convert between body velocities and
wheel velocities. And use the Differential Drive Simulation block to simulate the pose
given wheel speeds as inputs. Point to point motion was performed to test the
robustness of the controller (0.0) as starting point and (4.4) as final destination and the
results were used to optimize better performance. |
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