Dynamic Modeling and Path-tracking of Differential Drive Wheeled-Mobile Robots

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

구동토크의 제약을 갖는 차동 구륜이동로봇의 동역학 모델링과 경로추적