Physical Modeling Approach for a Differential Guide Mobile Robot Using Simscape

Abstract

In comparison to the classical modeling approach of energy consumption in mobile robots, the physical modeling approach offers advantages in terms of design, system realization, adaptivity, and coast. In this paper, an energy model has been developed in Simscape software. The power of this environment is shown by simulating the energy model for a differential guide mobile robot as well as the motors. The model is tested with typical motor energy, mixed energy models, and a trapezoidal velocity as input.