Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

by Guerra, Patrícia Nishimura

Abstract (Summary)
This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot
This document abstract is also available in Portuguese.
Bibliographical Information:

Advisor:Adelardo Adelino Dantas de Medeiros; Pablo Javier Alsina; Carlos Eduardo Trabuco Dórea; Aldayr Dantas de Araújo

School:Universidade Federal do Rio Grande do Norte

School Location:Brazil

Source Type:Master's Thesis

Keywords:Parameter Identification Mobile Robots Linear Model Least Mean Squares


Date of Publication:02/03/2005

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