Dynamic Behaviour of Differentially Steered Mobile Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F15%3A39899594" target="_blank" >RIV/00216275:25530/15:39899594 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Dynamic Behaviour of Differentially Steered Mobile Robot

Original language description

This article is aimed at obtaining a description of the behaviour of an ideal differentially steered drive system (mobile robot) and planar motion. The mathematical dynamic model describing the motion (speed and direction) of one robot's point is createdbased on the first principles approach. The trajectory of this point is converted to trajectories of wheel contact points with the plane of motion. The dynamic behavior of motors and chassis, form of coupling between motors and wheels and basic geometric dimensions are taken into account. The resulting trajectory depends on the supply voltage of both drive motors. The dynamic model will be used for design and verification of a robot's motion control in MATLAB / SIMULINK simulation environment.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

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Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Transactions on Electrical Engineering

ISSN

1805-3386

e-ISSN

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Volume of the periodical

4

Issue of the periodical within the volume

2

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

8

Pages from-to

51-58

UT code for WoS article

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EID of the result in the Scopus database

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