Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs

10/01/2021
by   Eric McCormick, et al.
0

This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of a ROS Gazebo simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 3

page 7

page 10

02/19/2014

A Powerful Genetic Algorithm for Traveling Salesman Problem

This paper presents a powerful genetic algorithm(GA) to solve the travel...
03/07/2021

Robopheus: A Virtual-Physical Interactive Mobile Robotic Testbed

The mobile robotic testbed is an essential and critical support to verif...
09/02/2018

State-Space Identification of Unmanned Helicopter Dynamics using Invasive Weed Optimization Algorithm on Flight Data

In order to achieve a good level of autonomy in unmanned helicopters, an...
03/25/2019

Development and verification of a simulation for leveraging results of a human subjects programming experiment

Quantitatively evaluating and comparing the performance of robotic solut...
09/22/2020

Efficient DWT-based fusion techniques using genetic algorithm for optimal parameter estimation

Image fusion plays a vital role in medical imaging. Image fusion aims to...
02/17/2018

Robotic design choice overview using co-simulation

Rapid robotic system development sets a demand for multi-disciplinary me...
02/26/2018

An Energy Balance Based Method for Parameter Identification of a Free-Flying Robot Grasping An Unknown Object

The estimation of inertial parameters of a robotic system is crucial for...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.