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Dynamic Modeling and Simulation of a Four-Wheel Skid-Steer Mobile Robot Using Linear Graphs McCormick, Eric; Lang, Haoxiang; De Silva, Clarence W.
Abstract
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a four-wheel skid-steer mobile robotic system. An LG representation of the system is proposed, and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of an ROS Gazebo-simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.
Item Metadata
Title |
Dynamic Modeling and Simulation of a Four-Wheel Skid-Steer Mobile Robot Using Linear Graphs
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Creator | |
Publisher |
Multidisciplinary Digital Publishing Institute
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Date Issued |
2022-08-06
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Description |
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a four-wheel skid-steer mobile robotic system. An LG representation of the system is proposed, and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of an ROS Gazebo-simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.
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Subject | |
Genre | |
Type | |
Language |
eng
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Date Available |
2023-02-03
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Provider |
Vancouver : University of British Columbia Library
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Rights |
CC BY 4.0
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DOI |
10.14288/1.0423912
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URI | |
Affiliation | |
Citation |
Electronics 11 (15): 2453 (2022)
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Publisher DOI |
10.3390/electronics11152453
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Peer Review Status |
Reviewed
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Scholarly Level |
Faculty
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Rights URI | |
Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
CC BY 4.0