Maneuvering Intersections & Occlusions Using MPC-Based Prioritized Tracking for Differential Drive Person Following Robot

2021 ◽  
Author(s):  
Avijit Kumar Ashe ◽  
K. Madhava Krishna
Keyword(s):  
Differential Drive ◽  
Person Following

Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control

2017 ◽  
Vol 10 (4) ◽  
pp. 325
Author(s):  
Angie Julieth Valencia Castañeda ◽  
Mauricio Felipe Mauledoux Monroy ◽  
Oscar Fernando Avilés Sánchez ◽  
Paola Andrea Niño Suarez ◽  
Edgar Alfredo Portilla Flores
Keyword(s):  
Embedded System ◽  
Position Control ◽  
Differential Drive ◽  
Vehicle Position

An Autonomously Guided Differential Drive Robot Base Using Asus® Xtion Pro Live

2020 ◽  
Author(s):  
S. I. A. P. Diddeniya ◽  
J. Liyanage ◽  
W. K. I. L. Wanniarachchi ◽  
C. Premachandra ◽  
H. N. Gunasinghe
Keyword(s):  
Differential Drive ◽  
Differential Drive Robot

scholarly journals A Mathematical Model of a Differential Drive with a Limited Gear Ratio

2021 ◽  
Vol 54 ◽  
pp. 699-711
Author(s):  
Andrey Efimov ◽  
Oleg Polushkin ◽  
Sergey Kireev ◽  
Marina Korchagina
Keyword(s):  
Mathematical Model ◽  
Gear Ratio ◽  
Differential Drive

Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load

2014 ◽  
Vol 668-669 ◽  
pp. 352-356 ◽  
Author(s):  
Zhi Hu Ruan ◽  
Niu Wang ◽  
Bing Xin Ran
Keyword(s):  
Mobile Robot ◽  
State Space Model ◽  
Response Characteristic ◽  
Model Parameters ◽  
Variable Load ◽  
Motion Model ◽  
Actual System ◽  
Wheel Load ◽  
Differential Drive ◽  
Entire Vehicle

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

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