253

Research Article
International Journal of Current Engineering and Technology
ISSN 2277 - 4106
2013 INPRESSCO. All Rights Reserved.
Available at http://inpressco.com/category/ijcet
Dynamic and Kinematic Models and Control for Differential Drive Mobile
Robots

Farhan A. Salem
a,b*


a
Mechatronics program, Department of Mechanical Engineering, Faculty of Engineering, Taif University, 888, Taif, Saudi Arabia.
b
Alpha center for Engineering Studies and Technology Researches, Amman, Jordan.

Accepted 4 March 2013, Available online 1June 2013, Vol.3, No.2 (June 2013)


Abstract

The two-wheel differential drive mobile robots, are one of the simplest and most used structures in mobile robotics
applications, it consists of a chassis with two fixed and in-line with each other electric motors. This paper presents new
models for differential drive mobile robots and some considerations regarding design, modeling and control solutions.
The presented models are to be used to help in facing the two top challenges in developing mechatronic mobile robo ts
system; early identifying system level problems and ensuring that all design requirements are met, as well as, to simplify
and accelerate Mechatronics mobile robots design process, including proper selection, analysis, integration and
verification of the overall system and sub-systems performance throughout the development process.

Keywords: Wheeled Mobile Robot, Electric motor, Differential drive, Mathematical and simulink models.



1. Introduction

1
Mobile robot is a platform with a large mobility within its
environment (air, land, underwater) it is not fixed to one
physical location. Mobile robots have potential application
in industrial and domestic applications. Accurate
designing and control of mobile robot is not a simple task
in that operation of a mobile robot is essentially time-
variant, where the operation parameters of mobile robot,
environment and the road conditions are always varying,
therefore, the mobile robot as whole including controller
should be designed to make the system robust and
adaptive, improving the system on both dynamic and
steady state performances. one of the simplest and most
used structures in mobile robotics applications, are the
two-wheel differential drive mobile robots (Figure 1), it
consists of a chassis with two fixed and in-lines with each
other electric motors and usually have one or two
additional third (or forth) rear wheel(s) as the third
fulcrum, in case of one additional rear wheel, this wheel
can rotate freely in all directions, because it has a very
little influence over the robots kinematics, its effect can
be neglected.
Different researches studied different separate aspects
of mobile robot design, modeling and control including;
(Ahmad A. Mahfouz et al, 2012 ) studied Modeling,
simulation and dynamics analysis issues of electric motor,

*Farhan A. Salem is working as Ass. Professor


in terms of output speed for mechatronics applications,
(Ahmad A. Mahfouz et al, 2013 ) introduce Mechatronics
Design of a Mobile Robot System with overall system
modeling and controller selection, in (Bashir M. Y. Nouri ,
2005) proposed modeling and control of mobile robot,
(Jaroslav Hanzel et al, 2011)studied computer aided
design of mobile robotic system controlled remotely by
computer, (Emese Szaet al , 2004) addresses design and
control issues of a simple two degrees of freedom
positioning device. (M.B.B. Sharifian et al , 2009) present
design and implementation of a PC-based DC motor
velocity system using both special optimal control and
PID, (Gregor Klancar et al , 2005) present a control
design of a nonholonomic mobile robot with a differential
drive, (Tao Gong et al, 2003) discuss architecture,
characteristics and principle of mobile immune-robot
model are, (Aye Aye Nwe et al, 2008) introduce software
implementation of obstacle detection for wheeled mobile
robot, avoidance system, (Mircea Niulescu
,2007)introduce some considerations regarding
mathematical models and control solutions for two-wheel
differential drive mobile robots, (J. R. Asensio et al, 2002)
to control the motion, a model for motion generation of
differential-drive mobile robots is introduced, the model
takes into account the robot kinematic and dynamic
constraint. This paper presents a new kinematics and
dynamics models for differential drive mobile robots a
long with main considerations regarding design, modeling
and control solutions.
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

254


Fig.1(a)
Fig. 1 (b)

Fig. 1(a)(b) Mobile platform and circuit, one and four
castor wheels; top view.

2. Mathematical modeling

The actuating machines most used in mechatronics motion
control systems are DC machines (motors). The mobile
platform motion control can be simplified to a DC motor
motion control. In modeling DC motors and in order to
obtain a linear model, the hysteresis and the voltage drop
across the motor brushes is neglected, the motor input
voltage, V
in
maybe applied to the field or armature
terminals (Richard C. Dorf et al , 2001), in this paper we
will consider PMDC motor as electric actuator. (Ahmad
A. Mahfouz et al , 2013) introduce a detailed derivation of
mobile robotic platform model, including modeling of the
basic electric motor modeling, as well as, simulink model
and function block with its function block parameters
window. Considering that system dynamics and
disturbance torques depends on platform shape and
dimensions, as well as, environment and the road
conditions.

2.1 Basic electric motor modeling

The PMDC motor open loop transfer function without any
load attached relating the input voltage, V
in
(s), to the
output angular velocity, (s), is given by Eq(1). The total
equivalent inertia, J
equiv
and total equivalent damping, b
equiv
at the armature of the motor are given by Eq(2), for
simplicity, the mobile robot can be considered to be of
cuboide shape, with the inertia calculated by
Eq(3),correspondingly, the equivalent mobile robot system
transfer function with gear ratio, n, is given by Eq(4):
( )( ) { }
2
( )
( )
( )
( ) ( ) ( )
t
speed
in a a m m t b
t
a m a m m a a m t b
K s
G s
V s L s R J s b K K
K
L J s R J b L s R b K K
e
= = =
+ + + (

=
( + + + +

(1)
2
1
2
2
1
2
equiv m Load
equiv m Load
N
b b b
N
N
J J J
N
| |
= +
|
\ .
| |
= +
|
\ .
(2)
3
12
load
bh
J =
(3)
2
( )
( )
( )
/
( ) ( ) ( )
robot
speed
in
t
a equiv a equiv equiv a a equiv t b
s
G s
V s
K n
L J s R J b L s R b K K
e
= =
=
( + + + +

(4)




2.2 Sensor modeling

Tachometer is a sensor used to measure the actual output
angular speed,
L,
Dynamics of tachometer and the
transfer function can be represented using the following
equation:

( )
( )
( )
( ) ( )
* *
/
out tac out tac
tac out
d t
V t K V t K
dt
K V s s
u
e
e
= =
=

(5)


Tachometer constant: we are to drive our robotic platform
system, with linear velocity of 0.5 m/s, the angular speed
is obtained as:
V/r 0.5/0.075 6.6667 rad / s, e = = =
therefore, the tachometer constant, for = 6.6667, is given
as:
12 / 6.6667 1.8
tac
K = =


2.3 Accurate dynamics modeling of mobile robotic
Platform.

When deriving an accurate mathematical model for mobile
system it is important to study and analyze dynamics
between the road, wheel and platform considering all the
forces applied upon the mobile platform system. (Farhan
A. Salem , 2013) introduce accurate modeling and
simulation of mobile robotic platform dynamics, including
most acting forces that is categorized into road-load and
tractive force. The road-load force consists of the
gravitational force, hill-climbing force, rolling resistance
of the tires , the aerodynamic drag force and the
aerodynamics lift force, where aerodynamic drag force
and rolling resistance is pure losses, meanwhile the forces
due to climbing resistance and acceleration are
conservative forces with possibility to, partly, recover.
Based on equations derived by (Farhan A. Salem , 2013),
that describes DC motor system dynamics and sensor
modeling, the next open loop transfer function, relating the
armature input terminal voltage, V
in
(s) to the output
terminal voltage of the tachometer V
tach
(s), with most load
torques applied are considered:
( )
( )
( ) ( )( )
in
V s
( )
*
( )
open
tach
tach t
a a m m a a b t
G s
V s
K K
L s R J s b L s R T K K
=
=
+ + + + +

Drive
B
a
t
t
e
r
y
Control
R
e
f
.
Volt.Reg.
Drive
Lift motor
Right motor
Drive
B
a
t
t
e
r
y
Control
R
e
f
.
Volt.Reg.
Drive
Lift
motor
Right
motor
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

255

Where: T the disturbance torque, all torques including
coulomb friction, substituting and solving gives equation
(6) written in the 7
t h
page of this paper:

2.3 Controller selection and design.

Different resources introduce different methodologies and
approaches for mobile robot modeling and controller
design, for instant; in (Bashir M. Y. Nouri ,2005),
introduced and tested Modeling and control of mobile
robot using deadbeat response, by (J. R. Asensio et al,
2002) different control strategies are used and tested for
Modeling and controller design of basic used DC motor
speed control. Since we are most interested in dynamics,
modeling and simulation, we will apply only PID
controller, this control block can be replaced with any
other controller type. PID controllers are ones of most
used to achieve the desired time-domain behavior of many
different types of dynamic plants. The sign of the
controllers output, will determine the direction in which
the motor will turn. The PID gains (K
P
, K
I,
K
D
) are to be
tuned experimentally to obtain the desired overall desired
response. The PID controller transfer function is given by:
2
2
/
I D P I P I
PID P D D
D D
K K s K s K K K
G K K K s s s
s s K K
( + +
= + + = = + +
(


2.4 Differential drive Kinematics and dynamics modeling

To characterize the current localization of the mobile robot
in its operational space of evolution a 2D plane (x,y), we
must define first its position and its orientation. Assuming
the angular orientation (direction) of a wheel is defined by
angle , between the instant linear velocity of the mobile
robot v and the local vertical axis as shown in Figure
2(a). The linear instant velocity of the mobile robot v , is a
result of the linear velocities of the left driven wheel v
L

and respectively the right driven wheel v
R
. These two
drive velocities v
L
and v
R
are permanently two parallel
vectors and, in the same time, they are permanently
perpendicular on the common mechanical axis of these
two driven wheels.
When a wheel movement is restricted to a 2D plane
(x,y), and the wheel is free to rotate about its axis (x axis),
the robot exhibits preferential rolling motion in one
direction (y axis) and a certain amount of lateral slip (
Figure 2(a)(b)) , the wheel movement ( speed) is the
product of wheel's radius and angular speed and is directly
proportional by the angular velocity of the wheel, and
given by:
x r r v e = =

Where: : wheel angular position. Referring to Figure
2(c) ,while the wheel is following a path and having no
slippery conditions, the velocity of the wheel at a given
time, has two velocity components with respect to
coordinate axes X and Y.

sin cos
0 cos sin
x y
x y
re u u u u
u u u u
= +
= +


Fig.2(a) The differential drive motion

(b) Wheel (c)

(d)

Fig. 2(a)(b)(c) Wheel movement kinematics


Fig. 3 circumference movement of mobile robot (Jaroslav
Hanzel, 2011)

Assuming the mobile robot follows a circular trajectory
shown in Figure 3, and s , and R are the arc distance
traveled by the wheel, and its respective orientation with
Y axis
X axis
Motion

r
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

256

respect to the global coordinates, and R is the
circumference radius of the wheel, then the linear and
angular velocities of the mobile robot are given by

/ / s t t u e u = A A = A A

The arc distance s traveled in time equal to t, is
given by
s R u A = A
, and the curvature, that is the
inverse of the radius R is given by
1/ R =
, referring
to Figure3, the movement equation in the initial position
are given by Eq.(7), these coordinate equations can be
extended by their rotating, which result in Eq.(8),
assuming the time is so small, then we have;
cos( ) 1 u A ~
and
sin( ) u u A ~ A
, substituting in Eq(8)
, will result in Eq.(9):
( ) cos( ) 1
(sin( ))
x R
y R
u
u
A = A
A = A
(7)
( ) cos( ) 1 cos sin( )sin
(sin( )) 1)sin sin( ) cos
x R R
y R R
u u u u
u u u u
A = A A
A = A + A
(8)
sin( )
cos( )
x R
y R
u u
u u
A = A
A = A
(9)

Substituting R, from the arc distance,
/ s R R s u u A = A = A A
, and dividing both sides by
t, we have:

sin( )
sin( ) sin( )
cos( )
cos( ) cos( )
x
y
x s
x s
t t
y s
y s
t t
u
u u u u
u
u u u u
A A
A = A = =
A A
A A
A = A = =
A A
(10)

The instantaneous center of curvature (ICC), (Figure 2(a))
is the point the robot must rotate around it, to avoid
slippage and have only a pure rolling motion, ICC lies on
the common axis of the two driving wheels. In case of
differential drive, by changing the velocities
L
and
R
of
the two Left and Right wheels, the ICC of rotation will
move and different trajectories will be followed, at each
time Left and Right wheels, moves around the ICC with
the same angular speed rate, given by:
mob
d
R
dt
u
e e u = =

Referring to Figure 2(a) The right and left wheels linear
velocities in terms of mobile angular speed are given by

2 2
L mob R mob
L L
R R u e u e
| | | |
= + =
| |
\ . \ .
(11)

Where: R is the distance from the ICC point to the
midpoint P, between the two wheels, and can be found by:
*
2
R L
R L
L
R
u u
u u
+
=

( 21 )
Because the vectors for linear speed of wheels
L
and
R
are orthogonal on the common axis of the driven wheels,
we can write an equation to represent the angular velocity
of the robot:
( )
R L R L
r
L L
e e u u
e

= =
(13)
The instant linear velocity of the mobile robot v
mob
is
attached and defined relative to the characteristic point P,
this velocity is a result of the linear velocities of the left
driven wheel
L
and respectively the right driven wheel
R
.
These two drive velocities
L
and
R
are permanently two
parallel vectors and, in the same time, they are
permanently perpendicular on the common mechanical
axis of these two driven wheels (Mircea Niulescu, 2007),
and given by:
( )
2 2
R L R L
mob
r e e u u
u
+ +
= =
(14)
A differential drive mobile robot is very sensitive to the
relative velocity of the two wheels, where: for
R L
u u =
:
then the radius R is infinite and the robot moves in a
straight line. If
R L
u u =
, then the radius R is zero and the
robot rotates around robot center point P (it rotates in
place). If
R L
u u =
: The robot follows a curved trajectory
around an ICC point located at a distance R from robot
center point P.
The curvature, which is the inverse of the radius R is given
by:
( )
( )
1 2
*
R L
mob R L
R L
u u
e

u u u

= = =
+
(15)
Now, substituting Eq.(14) in Eq.(10)
sin( )
2
cos( )
2
R L
x
R L
y
u u
u u
u u
u u
+
=
+
=


The arc length, distance, traveled by the mobile robot,
(point P) is the average of arcs lengths traveled by the two
driven wheels and given by:
( )
( ) ( )
/ 2
/ 2 / 2
L
R L R
S R L
S R L S S S
u
u
A = + A
A = A A = A + A

Correspondingly, the center orientation angle of the
trajectory is given by:

( ) /
L R
S S R u A = A A


2.4.1 Odometry for differential drive

To derive the expressions for the actual position of the
robot, based on Figure 2(a), lets suppose that a differential
drive robot is rotating around the point ICC with an
angular velocity (t). During the infinite short time dt the
robot center will travel the distance from the point P(t) to
P(t+dt) with a linear velocity V
mob
(t). For infinite short
time we can assume that the robot is moving along a
straight line tangent in the point P(t) to the real trajectory
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

257

of the robot. Based on the two components of the velocity
V
mob
(t), the traveled distance in each direction can be
calculated (Julius Maximilian, 2003)

( )
( )
x
y
dx t dt
dy t dt
u
u
=
=
(16)
Substituting
x
and
y
from Eq.(10) , gives:
sin( ( ))
cos( ( ))
dx t dt
dy t dt
u u
u u
=
=

Similarly, the angular position can be found to be :
( ) d t dt u e =
(17)
Integrating Eqs.(16,17) , substituting Eq.(10) and
manipulating, we have:
0
0
0
( ) sin( ( ))
( ) cos( ( ))
( ) ( )
x t t dt x
y t t dt y
t t dt
u u
u u
u e u
= +
= +
= +
}
}
}

Substituting Eqs.(13 and 14) and manipulating, we have:
0
0
0
( ) sin( ( ))
2
( ) cos( ( ))
2
( )
R L
R L
R L
x t t dt x
y t t dt y
t dt
L
u u
u
u u
u
u u
u u
+ | |
= +
|
\ .
+ | |
= +
|
\ .

= +
}
}
}
(18)

3. Simulation of overall mobile robot system response
in MATLAB/simulink

The Simulation of overall mobile robot system, including
the basic electric motor, controller, feedback speed sensor
considering all dynamics is shown in Figure 4(a) , based
on this model the sub-system model of electric motor ,
shown in Figure 4(b) can be built, this sub-system will be
used to built another internal sub-system, shown in Figure
4(c) , in turn the last sub-system will be used in building
Simulation of Differential drive and corresponding
kinematics
Now , to test these sub-models, overall sub-system
model shown in Figure 4(c), applying PID controller, and
resulted responses, by defining used DC motor parameters,














platform shape dimensions, acting forces parameters and
coefficients and speed sensor constant to be 1.8 for linear
velocity of 0.5 m/s, running the model will result in
response curves shown in Figure 4(c) this model allow
designer to evaluate mobile system performance in terms
of output speed, angle, torque, acceleration and current,
this model in the form of sub-system will be used, as basis,
to build the differential drive model

3.1Simulation of Differential drive and whole system

To face the two top challenges in developing mechatronic
system; early identifying system level problems and
ensuring that all design requirements are met, as well as,
to simplify and accelerate Mechatronics mobile robots
design process, including proper selection, analysis,
integration and verification of the overall system, as well
as, sub-systems performance throughout the development
process, and optimize system level performance to meet
the design requirements. All the derived equations,
including kinematics and dynamic equations, as well as,
simulink sub-system model shown in Figure 4, are used to
built an accurate and detailed , single input- multi-outputs
dynamics and kinematics model shown in Figure 5(a),
running this model will result in visual numerical values of
many variables and curves of each of the following; robot
linear speed
mob
, robot angular speed
mob
, linear speed
of right wheel
R
, linear speed of left wheel
L
, robot
center point P motion , the turning radius of mobile robot
R, Robot orientation-Direction angle , the curvature, ,as
well as, response curves in terms of linear speed/time,
torque/time, angular speed/time and current/time response
curves
Beside, the general model, based on derived equations
given by Eqs.(11-15) additional and supporting simulink
sub-models are built to return some of these output
quantities, were Figure 5(b) shows additional sub-model to
return robot center point P motion in X-Y coordinate ( see
Figures 6-7 ). Figure 5(c) shows additional sub-model to
return each of the following , linear speed of right motor ,
linear speed of left motor, linear speed of whole mobile
robot, curvature covered distance S, Robot orientation-
Direction angle , to plot both linear speed of right wheel

R
, linear speed of left motor
L
sub-model shown in
Figure 5(c) is used. A simplified version of the proposed
model is shown in Figure 5(d)














Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

258







Fig. 4(a) Accurate simulink model, of mobile robotic platform with PID controller.


Fig. 4(b) Electric motor subsystem considering all dynamics





angul ar
speed
Current,i
Torque
EMF constant Kb
Torque
r
wheel radi us,
V=W*r1
Kt
torque
constant
-K-
speed
feedbacK1
-K-
rad2mps
V=W*r1
-K-
r^2m/2.
-K-
r*m*g/2 ,
l i near speed.
1/n
gear rati o
n=3.1
-K-
aerodaynami c torque,
0.5*p*A*Cd*v^2
1
La.s+Ra
Transfer functi on
1/(Ls+R)
1
den(s)
Transfer functi on
1/(Js+b).
Torque
Step,
V=12,
Kb
si n(u)
cos(u)
Si nCos.
PID(s)
PID Control l er
-K-
M*g,
45
Incl i nati on
angl e
du/dt
Deri vati ve,
Current.
0.8
Cd=0.2
Angul ar Speed
-K-
0.5*ru*A*Cd*V^2*r
Mobi l e_robot.mat
.1
Mobi l e_robot2.mat
...
Mobi l e_robot3.mat
..
r/2 .
.
Mobi l e_robot1.mat
.
r/2
Rol l i ng resi stance force
M*g*Cr*cos()
aerodynami cs l i ft force
r*m/2 r*m/2
angul ar
speed
Torque current
6
output angual posi ti on, Theta
5 accel erati on
4 speed i n mps
3 Current, I
2
output angual speed, Omega
1 Torque, T
1
wheel radi us,
V=W*r1
-K-
rads2mps=
R_wheel *(2*pi )/(2*pi ).
-K-
r^2m/2. correct1
0.5
r*m*g/2 , correct2
r^2*m*g/2
-K-
aerodaynami c torque,
0.5*p*A*Cd*v^2
si n(u)
cos(u)
Si nCos.
1
s
Integrator9
1
s
Integrator12
1
s
Integrator1
60
Incl i nati on
angl e
Di vi de9
Di vi de8
Di vi de7
Di vi de6
Di vi de5
Di vi de4
Di vi de30
Di vi de3
Di vi de29
Di vi de28
Di vi de27
Di vi de26
Di vi de22
Di vi de21
Di vi de2
Di vi de18
Di vi de17
Di vi de16
Di vi de15
Di vi de14
Di vi de13
Di vi de12
Di vi de11
Di vi de10
Di vi de1
Di vi de,1
du/dt
Deri vati ve,
du/dt
Deri vati ve
0.8
Cd=0.2
Add3
mobi l e3.mat
;2
1
0.5 .
.
0.5
.
1
,
21
Cr: The rol l i ng resi stance coeffi ci ents
20 P: The i nvi ronment ( ai r) densi ty (kg/m3)
19 A:Cross-secti onal area of mobi l r robot, where i t i s the wi dest, (m2)
18 Cd : Aerodynami c drag coeffi ci ent
17 EMF constant, Kb
16 P: The i nvi ronment ( ai r) densi ty (kg/m3) 1
15 B : mobi l e robot undersi de area
14 CL: The coeffi ci ent of l i ft, ( CL to be 0.10 or 0.16)
13
g: The gravi ty accel erati on (m/s2).
12
M : The mass of the mobi l r robot
11
wheel radi us, r
10 control l er 9 wheel _radi us
8 Torque constant ,Kt
7
Armature Resi stance , R
6 Armature Inductance, L
5 Al l vi scous dampi ng
4 Tachometer constant , Ktac
3 Gear rati o
2
Input Vol t,(0 :12)
1 Inerti a motor+ l oad
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

259


Fig.4(c) Actuator sub-system Fig. 4(d) Actuator final sub-system


Fig. 4(c) linear speed/time, torque/time, angular speed/time and current/time response curves of the accurate close loop
mobile robotic platform model with PID controller.


Fig. 5(a) Kinematics and dynamic simulink model
2
wheel posi ti on
1
wheel vel oci ty
0.075
r
1
n
0.275
j
9.8
g
Inertia motor+ load
Input Volt,(0 :12)
Gear ratio
Tachometer constant , Ktac
All v iscous damping
Armature Inductance, L
Armature Resistance , R
Torque constant ,Kt
wheel_radius
controller
wheel radius, r
M : The mass of the mobilr robot
g: The grav ity acceleration (m/s2).
CL: The coef f icient of lif t, ( CL to be 0.10 or 0.16)
B : mobile robot underside area
P: The inv ironment ( air) density (kg/m3) 1
EMF constant, Kb
Cd : Aerody namic drag coef f icient
A:Cross-sectional area of mobilr robot, where it is the widest,
P: The inv ironment ( air) density (kg/m3)
Cr: The rolling resistance coef f icients
Torque, T
output angual speed, Omega
Current, I
speed in mps
acceleration
output angual position, Theta
Subsystem
Step
1.25
Rou
Ramp
0.156
R
Manual
Swi tch
150
M
0.82
L
1.8
Ktach
1.188
Kt
1.185
EMF
0.392
Damp.
0.007
Cr
0.1
Cl
0.1
Cd
0.3
B
1.4
A
mobi l e4.mat
;3
mobi l e2.mat
;2
mobi l e.mat
;1
mobi l e1.mat
;
1
In1
In1
wheel v elocity
wheel position
Subsystem1
0 2 4 6 8
0
2
4
6
8
Time (seconds)
R
a
d
/
s
e
c
Angular speed/time
0 2 4 6 8
0
0.2
0.4
0.6
0.8
Time (seconds)
M
/
s
Linear speed/time
0 2 4 6 8
0
1
2
3
4
Time (seconds)
A
m
p
Current/time
0 2 4 6 8
0
2
4
6
Time (seconds)
N
m
Torque/time
V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
WVS. V
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of the wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e6.mat
,.3
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

260


Fig. 5(b) Fig. 5(c-1) Fig. 5(c-2)

Fig. 5(b) additional simulink sum-model to return robot center point P motion in X-Y coordinates, velocities of right and
left wheels
R,

L,
Fig. 5(c-1) To return Both
mobile
and
mobile
curvature, and Fig. 5(c-2)To return linear speed of ,
mobile, and right and left wheels


Fig. 5(d) Fig. 5(e)

Fig. 5(d) additional simulink sub-model for odometry for differential drive to return each of the following , linear speed
of right motor , linear speed of left motor, linear speed of whole mobile robot, curvature covered distance S, Robot
orientation-Direction angle ; Fig. 5(e) additional simulink to plot velocities of right and left wheels
R,

L,
as well as

curvature


Fig. 5(f) Simplified model

To simplify the mathematical model, we can assume that the two motors are identical in their behavior, applying similar
approaches, and based on derived equations, a position control and simulation for the two-wheel differential drive mobile
robot shown in Figure 5(g), is built.


Fig. 5(g) Position control and simulation
V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
W VS. V
Vrobot
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of
Both wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n3
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e17.mat
,.6
mobi l e16.mat
,.5
mobi l e1.mat
,.4
mobi l e6.mat
,.3
mobi l e.mat
,.2
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
W VS. V
Vrobot
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of
Both wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n3
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e6.mat
,.3
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
W VS. V
Vrobot
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of
Both wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n3
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e6.mat
,.3
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
W VS. V
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of the wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e6.mat
,.3
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

V_Robot
m/s
m
m/s
m

Omega=
(Vl -Vr)/Di stanc
Turni ng Radi us of Mobi l e robot
Omega=
(Vl -Vr)/Di stanc
from pdf fi l e = Ki nemati cs, to take equati ons from there
1/(Di st_wheel s)
-T-
torque1
0
rotor-omeega
0
output torque
i nf
output Omega
-T-
omega.
-T-
omega rotor1
0
motor torque
XY Graph1
XY Graph
-T-
W-ROBOT
W VS. V
Vel oci ty of RIGHT wheel
Vel oci ty of LEFT wheel
Vel oci ti es of the wheel s
V_ri ght wheel
V_l eft wheel
-T-
V_Robot.'
V_R
V_L
-T-
V-Robot.
-T-
V-Robot
Theta, Robot
ori entati on-Di rcti on
Out1
Subsystem6
Torque1
Gear ratio1
Omega input1
Torque output1
Omega output1
Subsystem5
Out1
Subsystem3
Out1
Subsystem2
Out1
Subsystem1
S_lef t
S_right
V_Robot
X
Y
Subsystem
Step
V=2
Step
V=12
Step
V=1
Si ne Wave
Signal 1
Si gnal Bui l der
Scope1
Scope
Saturati on1
Saturati on
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .
[V_L]
Ri ght
wheel
Ramp1
Ramp
0.6254
R_Robot.
R_Robot
Posi ti on
PID(s)
PID Control l er2
PID(s)
PID Control l er1
[theta]
Omega1
-T-
Omega
Out1
Moti on profi l e
0.5001
Li near speed Robot.1
0.5001
Li near speed Robot,
Li near speed
of Robot,
[theta]
Left wheel 2
[theta]
Left wheel 1
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel
[V_R]
Left
wheel
LINEAR & ANGULAR
vel ovi ti es of mobi l e robot
-T-
Goto2
[V_L]
Goto
n
Gear rati o2
0.5
Gai n2
0.5
Gai n1
1
Gai n,2
-K-
Gai n,1
0.5
Gai n
[V_R]
From6
[V_L]
From5
-T-
From3
si n(u)
Fcn1
cos(u)
Fcn
Di vi de5
Di vi de1
Di vi de
mobi l e14.mat
Curvature1
7.427
Curvature covered
di stance
Curvature
covered di stance
Curvature
Angul ar speed of Robot
Ang. speed
of Robot,1
mobi l e10.mat
;2
mobi l e9.mat
;1
mobi l e2.mat
;
-K-
1/(Di st_wheel s)
mobi l e5.mat
...
-K-
..
1
s
.,.
.,
-K-
.'
mobi l e6.mat
,.3
mobi l e4.mat
,.1
,.'
mobi l e3.mat
,.
1
s
,,.
[V_R]
,
-C-
(Di st_wheel s)/2
1
s
'2
1
s
'1
1
s
'.
''1
-K-
''
1
s
'
-T-
Turni ng Radi us
Curvatures covered
di stance
Curvature
Curv. Radui s
of L & R wheel s
and mobi l r robot
Curv, radi us of R_ WHEEL
mobi l e15.mat
2
0.6254
1
-1.139
Theta, Robot ori entati on
Di recti on
Turni ng Radi us
of Mobi l e robot1
Angul ar speed
of Robot.
Curv. radi us of L_ WHEEL
Turni ng Radi us of Mobi l e robot.
Li near speed of Robot'
Curv. Radui s
of L vs R wheel s
Theta, Robot
ori entati on-Di rcti on1
Vel oci ti es of the two wheel s
0.6254
Turni ng Radi us of Mobi l e robot1
0.7997
Angul ar speed of Robot.
-1.139
Theta, Robot ori entati on-Di rcti on
-0.2277
Curvature covered di stance
-K-

feedbacK2
1/r

-K-

feedbacK3
1/r

Omega=
(Vl -Vr)/Di stanc
Posi ti on control
from pdf paper 62-22-1-PB
V_ri ght wheel 1
V_l eft wheel 1
Theta, Robot
ori entati on-Di rcti on.
Step
V=3
Saturati on3
Saturati on2
Uin
Wheel Velocity
Wheel Position
Ri ght Motor+Wheel .1
Ramp1
PID(s)
PID Control l er4
PID(s)
PID Control l er3
Li near speed
of Robot.
Uin
Wheel Velocity
Wheel Position
Left Motor+Wheel 1
0.5
Gai n3
si n(u)
Fcn1
cos(u)
Fcn
Curvatures
covered di stance.
Ang. speed
of Robot,
-K-
.'1
1
s
'5
1
s
'4
1
s
'2
1
s
'1
''3
''2
''1
''
-K-

feedbacK4
-K-

feedbacK1
Vx
Vy
XY Graph
speed components
Step
V=3
Step
V=1
Saturati on3
Saturati on2
Ramp1
PID(s)
PID Control l er4
PID(s)
PID Control l er3
Li near speed
of Robot.
Uin
LINEAR Velocity
LINEAR Position
ANGULAR Velocity
Left Motor+Wheel 1
si n(u)
Fcn1
cos(u)
Fcn
Ang. speed
of Robot,
1
s
'7
1
s
'6
1
s
'5
1
s
'3
''7
''6
''5
''1
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

261

4. Testing and results

The following nominal values for the various parameters
of a PMDC motor used : V
in
=12 Volts; Motor torque
constant, Kt = 1.1882 Nm/A; Armature Resistance, R
a
=
0.1557 Ohms () ; Armature Inductance, L
a
= 0.82 MH
;Geared-Motor Inertia: J
m
= 0.271 kg.m
2
, Geared-Motor
Viscous damping b
m
= 0.271 N.m.s; Motor back EMF
constant, K
b
= 1.185 rad/s/V, gear ratio, n=3, wheel radius
r =0.075 m, mobile robot height ,h= 0.920 m, mobile robot
width ,b = 0.580 m, the distance between wheels centers =
0.4 m, total mass 100 kg, the total equivalent inertia, J
equiv
and total equivalent damping, b
equiv
at the armature of the
motor are ,J
equiv
=0.2752 kg.m
2
, b
equiv
= 0.3922 N.m.s.
The most suitable linear output speed of suggested mobile
robot is to move with 0.5 meter per second, (that is =V/r
= 0.5/ 0.075 = 6.6667 rad/s,). Tachometer constant, K
tac
=
12 / 6.6667=1.8 (rad/sec), assuming shape of the Frontal
area of mobile robot is long cylinder , the aerodynamic
drag coefficient, Cd

=0.80, the air density (kg/m
3
) at STP,
=1.25, The coefficient of lift, ( C
L
to be 0.10 or 0.16),
the inclination angle to be 45
For model shown in Figure 5(a), when subjecting the
right motor to step input with final value of 12 V, and
Left motor of ramp input with slop of 7 , all the response
curves shown in Figure 6 , can be obtained , as well as
visual numerical values for these quantities. The sub-
models can be used to return, all or only, of the required
response curves.



Fig. 6(a) The robot center point P motion



Fig. 6(b) The Mobile robot linear speed


Fig. 6(c) The mobile robot linear speed/ time, mobile robot
angular speed/time, turning radius/time (final value of
0.6523), and mobile robot orientation angle. Time,
traveled curvature distance/ time, and curvature/time.


Fig. 6(d) left and right wheels linear and angular speed and
position

To further test our model, (differential drive motions)
shown in Figure 5(a), by defining DC parameters,
platform shape dimensions, acting forces parameters and
coefficients , speed sensor constant,, inclination angle,
firstly, applying the same inputs to both motors , to have
similar wheels velocities,
R L
u u =
, result in that the radius
R is infinite and the robot moves in a straight line motion
as shown in Fig. 7(a); applying different inputs to have
R L
u u =
, will result in corresponding trajectory, The robot
follows a curved trajectory around an ICC point
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7


M
e
t
e
r

,

M
Mobile linear speed \nu
0 10 20 30
0
0.2
0.4
0.6
0.8


M
e
t
e
r

,

M
Mobile linear speed v
0 10 20 30
-6
-4
-2
0
2

M
o
b
i
l
e


R
a
d


Mobile Angular speed e Rad/s,
0 10 20 30
-200
-100
0
100
200
Time(sec)
T
u
r
n
.

R
a
d
i
u
s

R

Mobile turning Radius m,
0 10 20 30
-20
-10
0
10
20
Time(sec)
M
o
b
i
l
e

o
r
i
e
n
t
a
t
i
o
n

a
n
g
l
e


Mobile orientation angle,
0 10 20 30
-4
-2
0
2
4
Time(sec)
C
u
r
v
a
t
u
r
e

M


Traveled curvature distance ,
0 10 20 30
-15
-10
-5
0
5
Time(sec)
C
u
r
v
a
t
u
r
e

M


curvature ,
0 10 20 30
-4
-2
0
2
4
Time(sec)
C
u
r
v
a
t
u
r
e

M


Traveled curvature distance ,
0 10 20 30
-15
-10
-5
0
5
Time(sec)
C
u
r
v
a
t
u
r
e

M


curvature ,
0 5 10 15
-1
0
1
2
Time(sec)


M
/
s
Left and Right wheels speed v
0 5 10 15
-2
-1
0
1
Time(sec)

M
e
t
e
r

,

M
Left and Right wheels positions S


Right wheel Pos.
Left wheel Pos.
0 5 10 15
-6
-4
-2
0
2
Time(sec)

m
/
s
,

R
a
d
/
s
Mobile linear and angular speeds v, e


Mobile linear speed
Mobile angular speed
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

262


Fig. 6(e) Right motor linear speed/time, current/time,
angular speed/time, torque/ time response curves.

located at a distance R from robot center point P. (Fig. 7(a)
(b) (c)), also for each time, the model is run, we obtain
response curves in terms of linear speed/time,
torque/time, angular speed/time and current/time response
curves.



Fig.7(a) straight line Fig.7(b) circular motion



Fig. 7(c) Double-curvature

Fig.7(a)(b)(c) Three different trajectories of the central
point of the mobile robot.

5. Future work; experimental testing; Mobile robot
control and circuit explanation,

Wheeled mobile Robot can be designed and built using the
following components (see Figure 7); chassis with two in-
line with each other electric PMDC motors, a PIC
microcontroller embedded on the robot and capable of
controlling two drive channels (PIC16F84A), two H-
bridge control circuits, corresponding sensors, The inputs
to microcontroller are sensors outputs, depending on robot
application, sensors may be line detection sensor,
ultrasonic range proximity sensor, temperature sensor. ,
PIC microcontroller is supplied with 5VDC and simple
clock condition with 20 MHz crystal, The H-bridge circuit
is supplied with 12VDC and the four bits outputs of
microcontroller made this part to drive the desire
conditions of DC Motor. A simplified algorithm for a PID
control implementation loop is given next:

Read K
P
, K
I
, K
P

previous_error = 0;
integral = 0;
Read target_position // the required position of robot
center.
while ( )
Read current_position; //the current position of
robot center with respect to the line.
error = target_position current_position ; // calculate
error
proportional = K
P
* error; // error times
proportional gain
integral = integral + error*dt; //integral stores the
accumulated error
integral = integral* K
I
;
derivative = (error - previous_error)/dt; //stores change
in error to derivate, dt is sampling period
derivative = K
D
*derivative;
PID_action = proportional + integral + derivative;
//To add PID_action to the left and right motor speed.
//The sign of PID_action, will determine the direction in
which the motor will turn.
previous_error =error; //Update error
end


Fig. 7 Microcontroller based DC motor control system for
wheeled mobile robot

Conclusions

New models for differential drive mobile robots and some
considerations regarding design, modeling and control
solutions are presented. The presented models allow
designer to have maximum desired informations in the
form of curves and visual numerical values of all variables
0 10 20 30
0
1
2
3
4
Time(sec)

M
o
t
o
r

T
o
r
q
u
e
,

N
m
Right Motor Torque Nm/Time
0 10 20 30
0
0.5
1
1.5
2



l
i
n
e
a
r

s
p
e
e
d
.

M
/
s
Right Motor linear speed M/s
0 10 20 30
0
1
2
3

C
u
r
r
e
n
t
,


A
m
p

Right Motor Current Amp/s,
0 10 20 30
-5
0
5
10
15
Time(sec)
O

,

R
a
d
RightMotor e Rad/s
Farhan A. Salem International Journal of Current Engineering and Technology, Vol.3, No.2 (June 2013)

263

required in designing and controlling of a wheeled mobile
robot, that can be used to face the two top challenges in
developing mechatronic system; early identifying system
level problems and ensuring that all design requirements
are met, as well as ,to simplify and accelerate
Mechatronics mobile robots design process, including
proper selection, analysis, integration and verification of
the overall system, as well as, sub-systems performance
throughout the development process, and optimize system
level performance to meet the design requirements. The
testing results show the simplicity, accuracy and
applicability of the proposed models in mechatronics
design of mobile robots.

Acknowledgement

Author would like to express his sincere thanks to Ahmad
Ismaiel Abu Mahfouz, for his valuable help, suggestions
and support during the development of the current work.

References.

Ahmad A. Mahfouz, Mohammed M. K, Farhan A. Salem
(2012), Modeling, simulation and dynamics analysis issues
of electric motor, for mechatronics applications, using
different approaches and verification by
MATLAB/Simulink (I)''. accepeted but not published yet to
I.J. Intelligent Systems and Applications, Submission ID
123.
Ahmad A. Mahfouz, Ayman A. Aly, Farhan A. Salem, (2013),
Mechatronics Design of a Mobile Robot System, IJISA,
vol.5, no.3, pp.23-3.
Bashir M. Y. Nouri (2005), modeling and control of mobile
robot , Proceeding of the First International Conference on
Modeling, Simulation and Applied Optimization, Sharjah,
U.A.E. February 1-3.
Jaroslav Hanzel, Ladislav Juriica, Marian Kik, Anton Vitkor,
Matej Strig , (2011), experimental mobile robotic
systems', modeling of mechanical and mechatronics
systems.
Emese Sza Deczky-Krdoss, Ba Lint Kiss (2004) , design and
control of a 2-DOF positioning robot Methods and Models
in Automation and Robotics, Miedzyzdroje, Poland.
M.B.B. Sharifian, R.Rahnavard and H.Delavari (2009), Velocity
Control of DC Motor Based Intelligent methods and
Optimal Integral State Feedback Controller , International
Journal of Computer Theory and Engineering, Vol. 1, No. 1,
April 2009 1793-8201.
Gregor Klancar, Drago Matko, Saso Blazic (2005), Mobile
Robot Control on a Reference Path, Mediterranean
Conference on Control and Automation Limassol, Cyprus,
June 27-2,.
Tao Gong , Zixing Cai (2003), Mobile Immune-Robot Model'',
International conference on robotics, intelligent systems
and signal processing.








Aye Aye Nwe, Wai Phyo Aung , Yin Mon Myint (2008),
software implementation of obstacle detection and for
Wheeled Mobile Robot. avoidance system, World Academy
of Science, Engineering and Technology 42.
Mircea Niulescu (2007), solutions for modeling and control in
mobile robots'' , CEAI, Vol. 9, No. 3;4, pp. 43-50, Romania.
J. R. Asensio. L. Montano, (2002) Akinematic and dynamic
model-based motion controller for mobile robot , 15th
Triennial World Congress, Barcelona, Spain
Richard C. Dorf and Robert H. Bishop (2001),Modern Control
Systems. Ninth Edition, Prentice-Hall Inc., New Jersey,.
Farhan A. Salem (2013), Accurate modeling and control for
Mechatronics design of mobile robotic platforms'' submitted
to Estonian Journal of Engineering,.
Jose Mireles Jr. (2004) ,Kinematics of Mobile Robots , Selected
notes from 'Robtica: Manipuladores y Robots mviles'
Anbal Ollero.
Julius Maximilian (2003), Kinematics of a car-like mobile robot
Mobile robot basic differential drive'', Institute of
Informatics VII, experiment notes
D. Honc P. Rozsval F. Duek (2011), Mathematical model of
differentially steered mobile robot'' , 18
th
International
Conference on Process Control , Tatransk Lomnica,
Slovakia
Khatib, M., H. Jaouni, R. Chatila and J. P. Laumond (1997).
Dynamic Path Modification for Car-Like Nonholonomic
Mobile Robots. In: IEEE Intl. Conf. on Robotics and
Automation. pp. 29202925.
Topalov, A. V., D. D. Tsankova, M. G. Petrov and T. Ph.
Proychev (1998). Intelligent Sensor-Based Navigation and
Control of Mobile Robot in a Partially Known Environment.
In: 3rd IFAC Symposium on Intelligent Autonomous
Vehicles, IAV98. pp. 439444.
Dudek Gregory, Michael Jenkin (2000), Computational
principles of mobile robotics. Cambridge university press.
Egerstedt, M., X. Hu and A. Stotsky (2001) , Control of mobile
platforms using a virtual vehicle approach, IEEE Trans. on
automatic control, Vol. 46, No. aa, p1777-1782.
S. Noga (2006), Kinematics and dynamics of some selected two-
wheeled mobile robots'' archives of civil and mechanical
engineering , Vol. VI, No. 3

Authors Profile:



Farhan Atallah Salem Abu Mahfouz:

B.Sc., M.Sc and Ph.D., in Mechatronics of production systems,
Moscow state Academy. Now he is ass. Professor in Taif
University, Mechatronics program, Dept. of Mechanical
Engineering and gen-director of alpha center for engineering
studies and technology researches. Research Interests; Design,
modeling and analysis of primary Mechatronics Machines.
Control and algorithm selection, design and analysis for
Mechatronics systems. Rotor Dynamics and Design for
Mechatronics applications