Modeling, Control and Simulation of Differential Drive Mobile Platform

XVII International Conference on Systems, Automatic Control and Measurements, SAUM 2024 (pp. 27-30)

АУТОР(И) / AUTHOR(S): Anđela Jovanović , Vladimir Mitić , Vladimir Sibinović , Boban Veselić 

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DOI:  10.46793/SAUM24.027J

САЖЕТАК / ABSTRACT:

Differential drive mobile platforms are common in the robotic world, for teaching, research, and tackling different applications. These platforms are very agile and can perform movement, trajectory following, and positioning tasks. To test different control algorithms for a mobile platform, its model must be used to simulate the real-world platform. This allows students and researchers to investigate different control strategies and fine-tune control algorithms for specific tasks. This paper presents a simulation model of the mobile platform, which was developed with the aim of matching the physically realized platform as much as possible. The created model can be intuitively used for control design and simulation.

КЉУЧНЕ РЕЧИ / KEYWORDS:

differential-drive, modeling, cascaded control, simulation

ПРОЈЕКАТ/ ACKNOWLEDGEMENT:

This work was supported by the Ministry of Science, Technological Development and Innovation of the Republic of Serbia [grant number 451-03-65/2024-03/200102].

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