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Hilgad Montelo Da Silva

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5. Simulation and Results


 

Model (used in the simulation)

Image Added

  
Image Added
where:
  • x and y are the two coordinates of the origin P of the moving frame
  • θ is the orientation angle of the mobile robot
  • Image Added is the rotation angle of the right driving wheel
  • Image Added is the rotation angle of the left driving wheel
  • The vehicle velocity v can be found in equation in the equation:
    Image Added
  • Image Added is the angular velocity of the right wheel
  • Image Added is the angular velocity of the left wheel


Simulation Using VRep

  
Multimedia
namesim_vrep_01.mp4

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Trying something thisTo Apply on histhis
Multimedia
name4wheel_proto2.mp4
Multimedia
namehospital_bed_01.mp4

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