Modular Dynamic Simulation of Wheeled Mobile Robots

Abstract

This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of nonlinearity and overconstraint. We demonstrate our method's flexibility and speed through simulations of two state-of-the-art WMR platforms and wheel-ground contact models. Simulation accuracy is verified in a physical experiment.

Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

“…The kinematics presentation in Sections IV-A through IV-C is similar to that in [21] (on WMR dynamics); however, we provide more insight and implementation detail here. Table I summarizes the mathematical notation used in this paper.…”

“…Even this is more accurate than common technique reducing skid-steer kinematics to differential drive kinematics (which greatly overestimates yaw rate). The full dynamic model is constructed as presented in [21], and uses the Pacejka "magic formula" tire model [2]. Parameters of the enhanced kinematic model (i.e.…”

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

“…The results were validated using pioneer 3-PAT SSWMR (Yu et al , 2009). A 3D dynamic model based on a recursive algorithm that used differential-algebraic equation formulation is proposed for wheel mobile robot, which is validated by authors on several robotic platforms (Seegmiller and Kelly, 2015). A 4WD skid-steer vehicle dynamic modeling is discussed by authors, which are based on the Langrage method (Kozłowski and Pazderski, 2004).…”