This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and validated by comparing the simulated LG model trajectory with the trajectory of a ROS Gazebo simulated robot and experimental data obtained from the physical robotic system. The obtained results demonstrate that the proposed LG model, combined with the GA parameter estimation process, produces a highly accurate method of modeling and simulating a mobile robotic system.
翻译:本文件介绍了线性图(LG)理论的概念和办法在4轮滑动式移动机器人系统的模型和模拟中的应用情况。提出了该系统的LG表示方式,并使用实验室开发的相联LGtheory MATLAB工具箱对随附的流动机器人系统动态状态-空间模型进行评估。采用了基于基因算法(GA)的参数估计方法来确定系统参数,从而导致非常准确地模拟模型。然后通过将模拟LG模型轨迹与ROS Gazebo模拟机器人的轨迹和从物理机器人系统获得的实验数据进行比较,对开发的模型进行评价和验证。获得的结果表明,拟议的LG模型与GA参数估计过程相结合,产生了一种非常精确的模型和模拟移动机器人系统的方法。