Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs
Abstract
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of a ROS Gazebo simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.
Cite
@article{arxiv.2110.00323,
title = {Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs},
author = {Eric McCormick and Haoxiang Lang and Clarence W. de Silva},
journal= {arXiv preprint arXiv:2110.00323},
year = {2021}
}