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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| التنسيق: | أطروحة |
| اللغة: | English English English |
| منشور في: |
2022
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| الوصول للمادة أونلاين: | 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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my-uthm-ep.69862022-04-26T06:33:34Z Simulation and analysis of pointto-point differential drive mobile robot 2022-02 Farea Aldubai, Saif Abdulghafor TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television 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. 2022-02 Thesis http://eprints.uthm.edu.my/6986/ http://eprints.uthm.edu.my/6986/1/24p%20SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI.pdf text en public http://eprints.uthm.edu.my/6986/2/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6986/3/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik |
| institution |
Universiti Tun Hussein Onn Malaysia |
| collection |
UTHM Institutional Repository |
| language |
English English English |
| topic |
TK5101-6720 Telecommunication Including telegraphy, telephone, radio, radar, television |
| spellingShingle |
TK5101-6720 Telecommunication Including telegraphy, telephone, radio, radar, television Farea Aldubai, Saif Abdulghafor Simulation and analysis of pointto-point differential drive mobile robot |
| description |
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. |
| format |
Thesis |
| qualification_name |
Master of Philosophy (M.Phil.) |
| qualification_level |
Master's degree |
| author |
Farea Aldubai, Saif Abdulghafor |
| author_facet |
Farea Aldubai, Saif Abdulghafor |
| author_sort |
Farea Aldubai, Saif Abdulghafor |
| title |
Simulation and analysis of pointto-point differential drive mobile robot |
| title_short |
Simulation and analysis of pointto-point differential drive mobile robot |
| title_full |
Simulation and analysis of pointto-point differential drive mobile robot |
| title_fullStr |
Simulation and analysis of pointto-point differential drive mobile robot |
| title_full_unstemmed |
Simulation and analysis of pointto-point differential drive mobile robot |
| title_sort |
simulation and analysis of pointto-point differential drive mobile robot |
| granting_institution |
Universiti Tun Hussein Malaysia |
| granting_department |
Fakulti Kejuruteraan Elektrik dan Elektronik |
| publishDate |
2022 |
| url |
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 |
| _version_ |
1747831103836651520 |