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Methodology for the Modelling of Mobile Robot

with Differential Chassis

Conference Paper · May 2016

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Jakub Čerkala
Kybernetika s.r.o, Košice, Slovakia
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 Methodology for the Modelling of Mobile Robot
with Differential Chassis
1
Jakub ČERKALA (4rd year)
Supervisor: 2 Anna JADLOVSKÁ
1,2 Dept. of Cybernetics and Artificial Intelligence, FEI TU of Košice, Slovak Republic
1 jakub.cerkala@tuke.sk, 2 anna.jadlovska@tuke.sk

Abstract—The research presented in this article is focused on

the author’s work done last year according to dissertation thesis
Application of Methods of Artificial Intelligence in Modeling and
Control Robotic Systems.
Keywords—differential chassis mobile robot, kinematic model,
dynamic model, actuator modelling, robot position control.

I. I NTRODUCTION
The precise mathematical model of mobile robot can be
very helpful mainly in the early stage of mobile robot or
control algorithms design. The knowledge of mobile robot’s Fig. 1. Illustration of mobile robot with differential chassis common concept
mathematical model allows the creation of simulation model,
that can show expected behaviour of the relevant real mobile
robot to user or algorithm inputs. This cybernetic approach, knowledge technology support, co-financed by the ERDF, that
which is the core of author’s dissertation thesis, also allows will finish this year and achieved results was presented in
to define limitations or problems, which can be resolved just paper [4]. Moreover, the educational results of the author’s
before the robot’s prototyping phase of design. Also, the work are supported by grant Kega - 001TUKE-4/2015. The
cybernetic simulation can verify the control algorithms before author is also a member of Alice Collaboration in CERN Alice
implementation into real mobile robot. The knowledge of experiment.
mobile robot’s mathematical model is essential for application
and validation of control approaches that use neural network
approximation models III. S OLVED TASKS AND RESULTS
This article briefly describes and summarizes the author’s
In order to achieve the mathematical model of differential
last year’s selected results in fulfilling the dissertation theses
driven two-wheel mobile robot that is suitable for simulation
as it was done in last conference paper [1].
experiments, it is required to take into account various phys-
ical, mathematical or technological characteristics that define
II. P REVIOUS ANALYSIS AND ACHIEVED RESULTS IN this kind of mobile robot. The differential driven two-wheel
RESEARCH FIELD chassis concept that have wheels placed in the same axis
In the previous years of study, a multiple fields of robotics of rotation is a popular choice for its mobility in plane and
were subject to author’s research, that will ultimately link simplicity [5].
together in the resulting dissertation thesis. The robotic arm
description and kinematics, which was the subject of author’s
first year of research is presented in [2]. The robotic systems, A. Differential chassis holomomic constraints and kinematics
both static and mobile, share similar traits and problems,
If we know the exact geometric dimensions of chassis and
therefore the focus of interest was changed to mobile robot
wheels, we can define holonomic constraints even for other
modelling and control, as presented in papers [1], [3]. The
kinds of wheels, common types are illustrated in Fig. 2
created mobile robot simulation models, together with virtu-
alization options and control structure components, such as
trajectory generator presented in [1] or controllers are grouped
in the Mobile Robotics Blockset, a Simulink library which is
one of the dissertation thesis program outputs.
The most of work done was supported by project Vega
No. 1/0286/11 Dynamic Hybrid Architectures of Multiagent
Network Control Systems, completed in 2014 and by Univer-
sity Science Park Technicom for innovative applications with Fig. 2. Common robot wheels - fixed, centred and castor type of wheel

170
SCYR 2016 – 16th Scientific Conference of Young Researchers – FEI TU of Košice
The kinematics of chassis concept depicted on Fig. 1. is
defined within nonholonomic constraints [6]
 
  ẋ
− sin ϕ cos ϕ 0 0 0   ẏ 

 cos ϕ sin ϕ b −r 0   ϕ̇  = 0
(1)
cos ϕ sin ϕ −b 0 −r θ̇R 
 
θ̇L
where x, y are the mobile robot centre of gravity plane
Cartesian coordinates, ϕ is overall robot orientation, θR , θL
are wheel angular positions, r is wheel radius and b is half
distance between wheel mounts.
B. Actuator modelling and internal control
As actuators, the mobile robots use DC motors, usually with
gearboxes that can produce enough torque force to set them
into movement [7] . The relation between applied voltage Um
and DC motor rotor axis angular velocity Ωm can be modelled
in form of linear transfer function
Kτ
FΩm /Um (s) =
(Ir s + Br ) (Lr s + Ra ) + Kτ Ke
where Ra is armature resistance, Lr is rotor inductance, Ir is
rotor moment of inertia, Br is friction coefficient, Kτ is motor
torque constant and Ke is back electromotive force constant.
Model (2) can be furthermore extended with the gearbox, more
precise friction model, the inertia of load, that the motor moves
or disturbance effects [8]. Because of practical aspects, the
angular velocity of motor rotor is usually controlled indirectly,
using the additional internal loop through the armature current
- this approach reduces the unwanted high acceleration. The
DC motor as an actuator is also used as a dynamics component
of robotic arms too [9].
C. Dynamics model of mobile robot
In general, the mobile robot’s dynamic model can be con-
sidered as an disturbance effect that have to be suppressed.
The basic mobile robot dynamic model, which minimally
incorporate the robot’s mass and moment of inertia, can be
obtained using Newton-Euler or Lagrange approach. Also, this
dynamic model can contain the frictions effects [6] or the
actuator dynamics [7]. An internal control loop, depicted on
Fig. 3. with PI controllers should be used [5], [10]. The mobile
Fig. 3. Mobile robot internal control loop that suppresses the dynamic effects
on robot movement
robot is controlled by desired angular velocities w(t) and the
internal control loop should minimize the velocities errors
e(t) with particular forces/torques represented by action u(t).
The real robot velocities q̇(t) are using the kinematics model
transferred into position vector q(t). The kinematic model is
used as a simple odometry sensor, but in real application, a
position correction using the sensors as gyroscope or cameras
is recommended.
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D. Mobile robot control structures
The basic control task for mobile robot is to get the robot to
specific position. If a mobile robot contain the internal control
loop (Fig. 3.), it is possible to use feedforward control to move
the robot into position [1]. This approach is not sufficient,
because the position error grow with the distance travelled,
even in straight line motion. Therefore, a feedback loop is
required to correct this error [5]. The usual, more complex
mobile robot control scenarios are
• posture control - include robot orientation,
• path following - move on path defined as points or
postures,
• trajectory following - include time aspect,
• obstacle avoidance - reaction control with mapping.
IV. P ROPOSAL FOR NEXT STEPS
The precise simulation model of mobile robot with dynam-
ics and actuators will serve as source of training and validation
data for feed-forward and inverse neural network models.
Mentioned control scenarios can use classical approaches, but
in some cases, the artificial intelligence methods will be used
as in [5] to compare the overall control performance.
(2)
ACKNOWLEDGEMENT
This work has been supported by the Research and De-
velopment Operational Program for project: Realization of
control/expert tasks within resolving the project University
Science Park Technicom for innovative applications with
knowledge technology support - 2nd phase, co-financed by the
ERDF (80%) and by grant KEGA - 001TUKE-4/2015 (20%)
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