Authors:
Patrícia N. Guerra
1
;
Pablo J. Alsina
2
;
Adelardo A. D. Medeiros
1
and
Antônio P. Araújo
1
Affiliations:
1
Federal University of Rio Grande do Norte, Brazil
;
2
Federal University of Rio Grande Do Norte, Brazil
Keyword(s):
Nonholonomic robots, robot control, stabilization control, linear modeling of robots.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper presents a modelling and identication method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x; y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆ᶩ. Thus, the resulting model is linear and time invariant and it can be identied through classical methods such as Recursive Least Mean Squares. This approach has a problem: ∆ᶩ can not directly measured. In this paper, this problem is solved using an estimate ~∆Ɩ based on a second order curve approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot.