An Indirect Verification Approach for Dynamic Control of Wheeled Mobile Robots

It is difficult to obtain a dynamic model for commercial wheeled mobile robots (WMRs) to achieve advanced control access, because such dynamic models are complex in different situations and the commercial provider is unwilling or difficult to provide. This makes robot control in academic research based on dynamic models very difficult. In this paper, we first propose a dynamic model for WMRs based on the physical principles and then establish a model verification approach via a simulation tool Simscape and the kinematic model. In fact, a Simscape simulation model is established with reference to the real WMR system, which can not only be used for the parameter identification of the proposed theoretical dynamic model, but also can derive the corresponding control signals for the real system kinematic model. Thus, the mutual verification of the three models can be achieved through experiments of the simulation model and the real system. Several typical experimental results show that the proposed approach can achieve the dynamic model verification effectively. With this approach, the acquisition of dynamic models and in-depth research based on commercial WMRs will become more convenient.