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Hilgad Montelo Da Silva

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5. Simulation and Results

 


Model (used in the simulation)

 
Generalized Coordinates 
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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
  • is the rotation angle of the right driving wheel
  • is the rotation angle of the left driving wheel
  • The vehicle velocity v can be found in equation in the equation:
  • is the angular velocity of the right wheel
  • is the angular velocity of the left wheel


Differential Equations

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Matrix Form:

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Kinematic Constraints
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Simulation Using VRep

  
Multimedia
namesim_vrep_01.mp4

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


 

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Analysis


References

1 U.S. Government. National Space-Based Positioning, Navigation, and Timing Coordination Office’s GPS information, 2010.

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