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Precise modeling of a four wheeled omni-directional robot
Hélder Filipe Pinto de Oliveira; Armando Jorge Miranda de Sousa; António Paulo Gomes Mendes Moreira; Paulo José Cerqueira Gomes da CostaRecent applications in Autonomous Robotics are becoming more demanding every day. Modern Mobile Robots use Omni-Directional locomotion in order to achieve additional maneuverability and efficiency. These features are gained at the expense of increased mechanical complexity and increased complexity in control. Demanding applications require precise dynamical model in order to allow for precise locomotion. Dynami...
Dynamical models for omni-directional robots with 3 and 4 wheels
Hélder Filipe Pinto de Oliveira; Armando Jorge Miranda de Sousa; António Paulo Gomes Mendes Moreira; Paulo José Cerqueira Gomes da CostaOmni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two r...
Sensor and actuator modeling of a realistic wheeled mobile robot simulator
José Gonçalves; José Lima; Hélder Filipe Pinto de Oliveira; Paulo José Cerqueira Gomes da CostaThis paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator. The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in Object Pascal with its dynamics based on the ODE (Open Dynamics Engine), allowing...
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