Modelling of the dynamics of a mobile four-wheeled robot and follow-up movement control with reduction of driving wheel slip

Project value: PLN 797,030 

Amount of subsidy: PLN 797,030 

Project implementation timeframe: 06/09/2012 –  05/07/2015

Coordinator: Industrial Research Institute for Automation and Measurements PIAP

Project purposes: The goal of the project was to learn more about modelling of the dynamics of small mobile wheeled robots moving with the driving wheel slip effect and about controlling follow-up movement of such robots, taking account of the slip.

The project consisted of theoretical, simulation and experimental parts. The theoretical part developed a universal methodology for modelling of the dynamics of mobile robots and a methodology for controlling follow-up movements of mobile robots moving with the driving wheel slip effect.  The simulation part involved initial verification of the input model of the dynamics, and of the control system, of the robot. The experimental part was done on a real robot and consisted of validation of the model of the dynamics of the robot, identification of its parameters and verification of the model of ground and of the proposed system for controlling follow-up movement. As a result of the research, final parameters of the control systems were established.

The project was financed by funds from the National RYD Centre granted under decision DEC- 2011/03/B/ST7/02532