Simulation and analysis of pointto-point differential drive mobile robot

• Main Author: Farea Aldubai, Saif Abdulghafor
• Format: Thesis
• Language: English; English; English
• Published: 2022
• Subjects: TK5101-6720 Telecommunication. Including telegraphy, telephone, radio, radar, television
• Online Access: http://eprints.uthm.edu.my/6986/

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.