Mathematic model for mobile robot

Abstract

There is no direct way to measure a mobile robot's position instantaneously. We must integrate the motion of the robot over time. But this includes the inaccuracy of motion estimation due to slippage and it is clear that measuring a mobile robot's position precisely is an extremely challenging research. This paper introduces mainly kinematic analysis of mobile robot including mobile robot structure and its components. We develop software to record the information from both encoders and convert to X and Y position and heading. Then we make experimental test for performance with the real mobile robot run in square shape 3m*5m. First, we analyze the kinematic motion of mobile robot and test the mobile robot's performance. The experiments are performed successfully on the real robot. The indoor environment of Measurement and Mobile Robot laboratory is used as the workspace for experiments. © 2010 Pushpa Publishing House.