mobileRobot
dynamic equations for the mobile robot benchmark model
Contents
Syntax
Description
Dynamic equation for the mobile robot benchmark model (see Eq. (6), (7),(8),(14) and (15) in [1]). The benchmarks describes a Pioneer 3DX mobile robotThe system states are x and y position of the center, the robot orientation, and the angular velocities of the two actuated wheels. Control inputs are the torques that act on the two actuated wheels.
Input Arguments
x |
system states x (dimension: [nx,1]) |
u |
control inputs u (dimension: [nu,1]) |
w |
disturbances w (dimension: [nw,1]) |
Output Arguments
f |
value of the dynamic function = time derivative of x |
See Also
References
- [1] Ivanjo et al. (2010), Modelling of mobile robot dynamics.
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