Dynamic Behaviour of Differentially Steered Mobile Robot

Abstract

This article is aimed at obtaining a description
of the behaviour of an ideal differentially steered drive
system (mobile robot) and planar motion. The mathematical
dynamic model describing the motion (speed and direction)
of one robot’s point is created based on the first principles
approach. The trajectory of this point is converted to
trajectories of wheel contact points with the plane of motion.
The dynamic behaviour of motors and chassis, form of
coupling between motors and wheels and basic geometric
dimensions are taken into account. The resulting trajectory
depends on the supply voltage of both drive motors. The
dynamic model will be used for design and verification of a
robot’s motion control