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Dynamics, control, and simulation of robots with differential drive

  • Robotics
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Journal of Computer and Systems Sciences International Aims and scope

Abstract

The problem of synthesizing trajectories, planning and implementing the motion of a mobile robot is investigated. The statement of the problem is motivated by the need for designing an optimal control of robots with two wheels controlled independently. Mobile robots with this kinematic scheme are called robots with “differential drive.”

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References

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Authors and Affiliations

  1. Moscow State University, Vorob’evy gory, Moscow, 119899, Russia

    V. V. Evgrafov, V. V. Pavlovsky & V. E. Pavlovsky

  2. Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Miusskaya pl. 4, Moscow, 125047, Russia

    V. E. Pavlovsky

Authors
  1. V. V. Evgrafov
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  2. V. V. Pavlovsky
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  3. V. E. Pavlovsky
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Additional information

Original Russian Text © V.V. Evgrafov, V.V. Pavlovsky, V.E. Pavlovsky, 2007, published in Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 2007, No. 5, pp. 171–176.

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Evgrafov, V.V., Pavlovsky, V.V. & Pavlovsky, V.E. Dynamics, control, and simulation of robots with differential drive. J. Comput. Syst. Sci. Int. 46, 836–841 (2007). https://doi.org/10.1134/S1064230707050152

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  • DOI: https://doi.org/10.1134/S1064230707050152

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