State-Space Modeling and Offline Evolutive Parameter Estimation of a Generic Robotic Platform

This article describes the modeling of a generic robotic platform in state-space representation. The robot's model includes the entire system from robot kinematics and dynamics to the motor plant. The model is then applied to a 4-wheeled holonomic robot according to RoboCup's Small Size Category and validated in parallel with an offline parameter estimation algorithm. The estimation algorithm is a Genetic Algorithm that allows estimation of any parameters in the proposed model with the same simple experiment setting for all of them. The experiments performed show that the proposed method allows estimation within an acceptable error range demonstrating its efficiency by facilitating the modeling of mobile robots without need of complex or various laboratory experiment settings and complex mathematical approaches.