2021/10/01 by Eric McCormick, McCormick, Eric, Haoxiang Lang +3 · 1 citation
Computer Science · Decision Sciences · Engineering · #FOS: Computer and information sciences #Model-Driven Software Engineering Techniques #Real-time simulation and control systems #Robotics (cs.RO) #Simulation Techniques and Applications
paper · pdf · doi:10.48550/arxiv.2110.00323
openalex publication_date 2021/10/01 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of a ROS Gazebo simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.