Kinematic Modeling of a Mobile Robot with Four Tractor-Type Wheels with Independent Electric Drive

German J.C.H.; Alarcon J.L.A.; Gardini S.R.P. · Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023 (2023) · DOI: 10.1109/intercon59652.2023.10326042

Resumen

The kinematic model of a mobile robot provides a mathematical description of the robot's motion, which is essential for controlling its movement. Since, by knowing the relationship between the speed of the wheels and the motion of the robot, a controller can be designed to allow the robot to follow a desired trajectory or avoid obstacles. In addition, it allows simulation of its motion in different scenarios, which is useful for testing and optimizing the design of the mobile robot, improving its stability and maneuverability. The latter is important for mobile robot applications in agricultural fields, given the irregularities of the terrain, and even more so if these applications are of the autonomous navigation type. In this work, the kinematics of a mobile robot of 110 cm wide, 140 cm long, and 40 cm high is modeled in order to have the model of the robot to be controlled for trajectory tracking. First, several kinematic modeling approaches are analyzed and studied to determine the one that best describes the motion of a particular robot. Second, the previously selected kinematic technique is applied to obtain the mathematical motion model of the particular robot. Finally, several results and discussions of the simulation are presented.

Instituciones: Universidad Privada Antenor Orrego