STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT
Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the paramete...
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| Format: | Article |
| Language: | English |
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Alma Mater Publishing House "Vasile Alecsandri" University of Bacau
2022-01-01
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| Series: | Journal of Engineering Studies and Research |
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| Online Access: | https://jesr.ub.ro/index.php/1/article/view/289 |
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| author | ADEDOTUN O. OWOJORI KAYODE F. AKINGBADE WALIU O. APENA ERASTUS O. OGUNTI |
| author_facet | ADEDOTUN O. OWOJORI KAYODE F. AKINGBADE WALIU O. APENA ERASTUS O. OGUNTI |
| author_sort | ADEDOTUN O. OWOJORI |
| collection | DOAJ |
| description |
Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included.
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| format | Article |
| id | doaj-art-f635bc54bf084e298db719e7c34d1afc |
| institution | Kabale University |
| issn | 2068-7559 2344-4932 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Alma Mater Publishing House "Vasile Alecsandri" University of Bacau |
| record_format | Article |
| series | Journal of Engineering Studies and Research |
| spelling | doaj-art-f635bc54bf084e298db719e7c34d1afc2025-02-11T11:39:56ZengAlma Mater Publishing House "Vasile Alecsandri" University of BacauJournal of Engineering Studies and Research2068-75592344-49322022-01-0127310.29081/jesr.v27i3.289STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT ADEDOTUN O. OWOJORIKAYODE F. AKINGBADEWALIU O. APENAERASTUS O. OGUNTI Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included. https://jesr.ub.ro/index.php/1/article/view/289differential drive robots, autonomous, self-balancing, CAD; MATLAB/Simulink |
| spellingShingle | ADEDOTUN O. OWOJORI KAYODE F. AKINGBADE WALIU O. APENA ERASTUS O. OGUNTI STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT Journal of Engineering Studies and Research differential drive robots, autonomous, self-balancing, CAD; MATLAB/Simulink |
| title | STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT |
| title_full | STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT |
| title_fullStr | STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT |
| title_full_unstemmed | STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT |
| title_short | STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT |
| title_sort | stability control modelling under dynamic motion scenario of a differential drive robot |
| topic | differential drive robots, autonomous, self-balancing, CAD; MATLAB/Simulink |
| url | https://jesr.ub.ro/index.php/1/article/view/289 |
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