Dynamics, control, and simulation of robots with differential drive

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 ca...

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Bibliographic Details
Published inJournal of computer & systems sciences international Vol. 46; no. 5; pp. 836 - 841
Main Authors Evgrafov, V. V., Pavlovsky, V. V., Pavlovsky, V. E.
Format Journal Article
LanguageEnglish
Published Silver Spring Springer Nature B.V 01.10.2007
Subjects
Robots
Studies
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Summary: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."[PUBLICATION ABSTRACT]
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230707050152