Modeling, simulation and control of a differential steering type mobile robot

被引：0

作者：

Angel, L. ^{[1
]}

Hernandez, C. ^{[1
]}

Diaz-Quintero, C. ^{[1
]}

机构：

[1] Univ Pontificia Bolivariana, Bucaramanga, Colombia

来源：

2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年

关键词：

Co-simulation; MATLAB; MSC ADAMS; mathematical model; spatial position; joint position; kinematic model; differential steering;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the modeling and control of a differential steering type mobile robot by using ADAMS/MATLAB Co-Simulation with the aim of establish the robot's movement from a start point to an end point. The simulation model of the mobile robot is obtained by using MSC ADAMS software, and a PD control with velocity feedback is implemented with MATLAB/Simulink software. The simulation model of the differential steering type mobile robot was validated by testing out the robot's movement through different point-to-point trajectories as well as multi-point trajectories and analyzing the position error obtained in each trajectory. Robustness tests were performed to verify the performance acceptable of the implemented controller.

引用

页码：8757 / 8762

页数：6

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