Simulation and analysis of pointto-point differential drive mobile robot
A differential drive robot and Path motion point to point are studied and implemented in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is also discussed. The simulation of the mathematical model of the mobile robot was carried out in Simulink by using the Differen...
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| Format: | Thesis |
| Language: | en en en |
| Published: |
2022
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| Online Access: | http://eprints.uthm.edu.my/6986/1/24p%20SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI.pdf http://eprints.uthm.edu.my/6986/2/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6986/3/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20WATERMARK.pdf http://eprints.uthm.edu.my/6986/ |
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| _version_ | 1833418247424180224 |
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| author | Farea Aldubai, Saif Abdulghafor |
| author_facet | Farea Aldubai, Saif Abdulghafor |
| author_sort | Farea Aldubai, Saif Abdulghafor |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | A differential drive robot and Path motion point to point are studied and implemented
in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is
also discussed. The simulation of the mathematical model of the mobile robot was
carried out in Simulink by using the Differential Drive Forward Kinematics and
Differential Drive Inverse Kinematics blocks to convert between body velocities and
wheel velocities. And use the Differential Drive Simulation block to simulate the pose
given wheel speeds as inputs. Point to point motion was performed to test the
robustness of the controller (0.0) as starting point and (4.4) as final destination and the
results were used to optimize better performance. |
| format | Thesis |
| id | my.uthm.eprints-6986 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2022 |
| record_format | eprints |
| spelling | my.uthm.eprints-69862022-04-26T06:33:34Z http://eprints.uthm.edu.my/6986/ Simulation and analysis of pointto-point differential drive mobile robot Farea Aldubai, Saif Abdulghafor TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television A differential drive robot and Path motion point to point are studied and implemented in this thesis. The model by the Dudek model on Instantaneous Centre of Curvature is also discussed. The simulation of the mathematical model of the mobile robot was carried out in Simulink by using the Differential Drive Forward Kinematics and Differential Drive Inverse Kinematics blocks to convert between body velocities and wheel velocities. And use the Differential Drive Simulation block to simulate the pose given wheel speeds as inputs. Point to point motion was performed to test the robustness of the controller (0.0) as starting point and (4.4) as final destination and the results were used to optimize better performance. 2022-02 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/6986/1/24p%20SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI.pdf text en http://eprints.uthm.edu.my/6986/2/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/6986/3/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20WATERMARK.pdf Farea Aldubai, Saif Abdulghafor (2022) Simulation and analysis of pointto-point differential drive mobile robot. Masters thesis, Universiti Tun Hussein Malaysia. |
| spellingShingle | TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television Farea Aldubai, Saif Abdulghafor Simulation and analysis of pointto-point differential drive mobile robot |
| title | Simulation and analysis of pointto-point differential drive mobile robot |
| title_full | Simulation and analysis of pointto-point differential drive mobile robot |
| title_fullStr | Simulation and analysis of pointto-point differential drive mobile robot |
| title_full_unstemmed | Simulation and analysis of pointto-point differential drive mobile robot |
| title_short | Simulation and analysis of pointto-point differential drive mobile robot |
| title_sort | simulation and analysis of pointto-point differential drive mobile robot |
| topic | TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television |
| url | http://eprints.uthm.edu.my/6986/1/24p%20SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI.pdf http://eprints.uthm.edu.my/6986/2/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6986/3/SAIF%20ABDULGHAFOR%20FAREA%20ALDUBAI%20WATERMARK.pdf http://eprints.uthm.edu.my/6986/ |
| url_provider | http://eprints.uthm.edu.my/ |