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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Main Author:	Farea Aldubai, Saif Abdulghafor
Format:	Thesis
Language:	English English English
Published:	2022
Subjects:	TK5101-6720 Telecommunication Including telegraphy, telephone, radio, radar, television
Online Access:	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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id	my-uthm-ep.6986
record_format	uketd_dc
spelling	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

Simulation and analysis of pointto-point differential drive mobile robot

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