Study of dynamic models and control strategies of mobile robots

• Grant number: 16/04406-0
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: May 01, 2016
• End date: April 30, 2017
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Marat Rafikov
• Grantee: Matheus dos Santos Xavier
• Host Institution: Centro de Engenharia, Modelagem e Ciências Sociais Aplicadas (CECS). Universidade Federal do ABC (UFABC). Ministério da Educação (Brasil). Santo André , SP, Brazil

Abstract

The purpose of this research is to study dynamic models and control strategies of mobile robots. Kinematic models are valid if mobile robots are moving at low speed, light load and low acceleration. For higher speeds the use of kinematic models leads to errors in pose prediction, especially when significant control signal changes occur. In order to reduce such pose prediction errors and considering that mobile robots are designed to travel at higher velocities and perform heavy duty work, mobile robot drive dynamics can be modeled and included as part of the navigational system. Research objectives are: study of dynamic mathematical models that can be used for modeling of mobile robots; study of the SDRE method (State Dependent Riccati Equation) control of mobile robots; development of control strategies of mobile robots for different reference trajectories and development of software that perform proposed strategies.