STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT

Adedotun O. Owojori, K. Akingbade, W. Apena, E. Ogunti
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Abstract

Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included.
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差动驱动机器人动态运动场景下的稳定性控制建模
将智能融入许多设备中,使差动驱动机器人更容易实现自平衡和自动驾驶。基本上,差速驱动机器人系统描述了一个与倒立摆有关的不稳定、非线性系统。该研究试图利用从计算机辅助设计工具(Solidworks)获得的参数来对系统进行建模,以实现系统在计划轨迹内的完全稳定性控制和动态运动。针对移动机器人的整体系统设计,得到了一个线性化的动力学方程,并采用线性二次调节器的概念来获得最佳状态反馈增益。仿真结果是在MATLAB软件上获得的,该软件与具有可部署传感器技术的Arduino板接口。将模拟扰动场景,以确定系统在静态位置或动态位置的稳定性条件。信号分析和计算机视觉技术是实现设计的杠杆。还包括定位和导航,称为跟踪计划轨迹或在给定空间中穿过充满障碍物的路径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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审稿时长
6 weeks
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