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KIAM Preprint № 25, Moscow, 2015
Authors: Davydov O.I., Platonov A. K.
A control algorithm for a differential drive of RB-2 mobile robot
Abstract:
This paper presents a motion planning algorithm for a mobile robot equipped with differential drive and omni-wheels. It describes in detail the algorithm and its tuning parameters as well as a simulation program that models dynamic horizontal movement of the robot. The simulation program selects optimal parameters for the differential drive control algorithm which are further adjusted based on real-life testing of RB-2's movement control software. An approach described in this paper allows to create an efficient motion planning algorithm in a relatively short time while minimizing its testing on a physical robot.
Keywords:
mobile robot, omni-wheels, movement dynamics model, motion planning algorithms, robot RB-2
Publication language: russian,  pages: 16
Research direction:
Theoretical and applied problems of mechanics
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About authors:
  • Davydov O.I.,  ,  пенсионер
  • Platonov Alexandr Konstantinovich,  orcid.org/0000-0001-6496-582XKIAM RAS