Identification of Differential Drive Robot Dynamic Model Parameters

Identification of Differential Drive Robot Dynamic Model Parameters

The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identif...

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Bibliographic Details
Main Authors: Michał Siwek, Jarosław Panasiuk, Leszek Baranowski, Wojciech Kaczmarek, Piotr Prusaczyk, Szymon Borys
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Materials
Subjects:
mobile robot
ROS
AGV
identification
adaptation
trajectory tracking
Online Access:https://www.mdpi.com/1996-1944/16/2/683

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