Modeling vechicles and mobile robots

摘要

Locomotion systems of wheeled mobile robots and electric cars consist of a rectangular or a circular platform, one or two drive wheels and one or two free wheels (when a unicycle type robot has only one drive wheel). The wheels may be fixed, steering, castor or Swedish. The steering wheel has a rotation about the vertical axle, passing through the center of the wheels. The castor wheel's vertical rotation axle is different than the center of the wheel. The paper presents a unitary model of the unicycle type mobile robots (car type) and of the vehicle robots - electric cars with one or more trailers. The mobile robot car type is foreseen a unicycle mobile robot with a trailer. For the mobile robots with trailers, the correlation between the rotation angle of the truck or of the trailer and the steering angle, and also the stabilizing conditions are demonstrated. An FPGA based implementation for this model is presented. The input data is provided by the user or is generated by a special programmed unit. The output data is displayed and provided to a DtoA external circuit.