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# Model and simulate different locomotion mechanisms that enable a mobile robot to move unbounded

INSTRUCTIONS TO CANDIDATES

Module Learning Outcomes Assessed:

1. Model and simulate different locomotion mechanisms that enable a mobile robot to move unbounded throughout its environment and the motors and associated driver principles. 2. Evaluate different robotic models and the kinematic control and sensor systems used by these models.

3. Apply the learnt principles to the applications of robotic systems and how they are used in society.

Autonomous navigation of mobile robots is an area of research with increasing interest over the years due to recent technological advances. Tasks such as area coverage and exploration, surveillance, search and rescue missions require the creation of a trajectory, and the subsequent implementation of a trajectory tracking controller to ensure that the robot will stay on the created trajectory.

One of the basic models for mobile robots is that of the differential drive robot. A differential

This document is for Coventry University students for their own use in completing their

assessed work for this module and should not be passed to third parties or posted on any website. Any infringements of this rule should be reported to

faculty registry.eec@coventry.ac.uk.

drive robot (Fig. 1) has two independently activated wheels, with a third passive wheel for stability.

left wheel

0

+

passive wheel

right wheel

X

Error! No text of specified style in document. Differential drive robot schematic

The kinematic model of the robot can be given from:

x = vcose y = vsino ė = w

where v is the tangential velocity and w is the angular velocity. Given the tangential and angular velocity of the robot, the left and right wheel velocities can be given from:

λ

VR = V + w z λ

V1 = v - w

Where λ= 0.2 is the distance between the two wheels.

The purpose of this assignment is to learn to control a differential drive robot. Given the localization information, you will need to control the robot to follow on a reference trajectory.

You will need to do a report based on your findings. The individual Tasks of the assignment is as follows:

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