Farea Aldubai, Saif Abdulghafor (2022) Simulation and analysis of pointto-point differential drive mobile robot. Masters thesis, Universiti Tun Hussein Malaysia.
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Abstract
A differential drive robot and Path motion point to point are studied and implemented in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is also discussed. The simulation of the mathematical model of the mobile robot was carried out in Simulink by using the Differential Drive Forward Kinematics and Differential Drive Inverse Kinematics blocks to convert between body velocities and wheel velocities. And use the Differential Drive Simulation block to simulate the pose given wheel speeds as inputs. Point to point motion was performed to test the robustness of the controller (0.0) as starting point and (4.4) as final destination and the results were used to optimize better performance.
| Item Type: | Thesis (Masters) |
|---|---|
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television |
| Divisions: | Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering |
| Depositing User: | Mrs. Sabarina Che Mat |
| Date Deposited: | 26 Apr 2022 06:33 |
| Last Modified: | 26 Apr 2022 06:33 |
| URI: | http://eprints.uthm.edu.my/id/eprint/6986 |
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