Abstract
Due to the presence of nonholonomic constraints of two-wheeled differentially driven mobile robot (TWDDMR), and the left and right wheel motors are affected by constraint reaction generating resistance moment, the TWDDMR has a strong dynamics coupling problem. By introducing the dynamic coupling into dynamic structure of double closed-loop drive system (DLDCM), the dynamic mechanism model of drive system with coupling is obtained. Then, the quasi-equivalent modeling (QEM) approach is used to simplify the mechanism model so as to get the quasi-equivalent dynamic model as well as corresponding state-space equations. And the quasi-equivalent state-space motion model is obtained through integration of the kinematic model into quasi-equivalent dynamic model. Then, by using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the TWDDMR motion model and the second-order model, respectively, comparing with the actual system which demonstrates the effectiveness of the proposing method and model.
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Acknowledgments
This work is supported by National Natural Science Foundation of China (61174104), Project No. 1061120131706 supported by the Fundamental Research Funds for the Central Universities and Research Foundation for Talents of Chongqing University.
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Wang, N., Ruan, Z., Ran, B., Fang, R. (2015). Quasi-equivalent Coupling Motion Model of Two-Wheeled Differentially Driven Mobile Robot. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 338. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46466-3_19
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DOI: https://doi.org/10.1007/978-3-662-46466-3_19
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