Title :
Dynamic model of autonomous ground vehicle for the path planning module
Author :
Francis, Sobers L X ; Anavatti, Sreenatha G. ; Garratt, Matthew
Author_Institution :
Sch. of Eng. & Inf. Technol., Univ. of New South Wales at ADFA, Canberra, ACT, Australia
Abstract :
This paper discusses the importance of kinematic and dynamic constraints in a path planning module. The kinematic and dynamic models are taken into account to model the actual mobile robot including the torques provided by the motors and the restriction to the robot mobility induced by the constraints. The dynamic model of the mobile robot is simulated and compared with the behaviour of a real Pioneer 3DX mobile robot.
Keywords :
mobile robots; motion control; path planning; road vehicles; robot dynamics; robot kinematics; torque; autonomous ground vehicle; dynamic constraint; dynamic model; kinematic constraint; mobile robot; motors; path planning module; robot mobility restriction; torque; Mathematical model; Mobile robots; Path planning; Robot kinematics; Vehicle dynamics; Wheels; Dynamic modelling; Path Planning; Pioneer 3DX mobile robot;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Conference_Location :
Wellington
Print_ISBN :
978-1-4577-0329-4
DOI :
10.1109/ICARA.2011.6144859
