Modeling and Parameters Identification of a Two-Wheel Drive Differential Mobile Robot with a Caster Wheel

Abstract

Friction is a critical phenomenon that significantly influences the dynamic behavior and performance of a two-wheel drive differential mobile robot with a caster wheel. A precise analysis and deep understanding of this phenomenon are essential for optimizing the design and control of these robots, as well as their autonomy and navigation capabilities in various environments. This paper focuses on the modeling and identification of parameters related to friction along surge, sway and turning motion in a differential mobile robot using Least Square Method and compare the results of simulation of three trials in both surge and turning motion mentioned the effectiveness of the used method and that incorporating additional parameters within the identification framework leads to improve a high level of precision.