Computational analysis of the Cauchy problem associated to the kinematic model of a mobile robot

摘要

Recently, the specific problems arising to mobile robots are the following: determining the position and orientation of the robot on the field, planning an optimal path of motion and stationary or moving objects avoidance. This paper realizes a computational analysis of the Cauchy problem associated to a mobile robot kinematics. The ‘phase portrait’ graphical tool of the mathematical soft MAPLE11 points out the influence of the initial conditions: the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of two simulation cases for the initial conditions brings a good reliability of the analysis. MSC:68T40, 70B15, 70B10, 37M05.