The Tricycle Mobile Robot Movement Simulation

Abstract

The analytical model of three wheels mobile robot as the control object is worked out with use of the theoretical mechanics. Model includes two parts, part which describes longitudinal acceleration and dynamics of maneuvers on the azimuth angle and part which describes transverse oscillations of trunk relatively to the ground. For description of acceleration characteristics and maneuvering on the azimuth angle robot is considered as the trunk with installed two direct current motors at the base of the isosceles triangle and absolutely passive wheel installed in the vertex of the isosceles triangle. For description of transverse oscillations robot is considered as rigid trunk placed on viscose-elastic supports, and every support moves on its own land trajectory. It is shown that the result obtained may be used both for direct synthesis of mobile robot control system, and for evaluation of Nyquist frequency of sensors signal digitizing, which minimize information losses in mobile robot digital control system.