Comparative Analysis of Ackermann and Differential Drive Kinematics for AMRs on AgileX Limo скачать в хорошем качестве

Comparative Analysis of Ackermann and Differential Drive Kinematics for AMRs on AgileX Limo

This video presents the simulation results from a comparative kinematic study conducted on the AgileX Limo multi-modal mobile robot using ROS 2 Jazzy and Gazebo Harmonic. Four simulation scenarios are shown: Differential Drive – Lemniscate Path (∞ shape): Progressive error accumulation under constant turning demands, reaching RMSE values exceeding 5.5m despite low odometry-reported error. Differential Drive – Square Path (4×4m): The same square trajectory using skid-steering, revealing significant lateral drift caused by wheel slip that is invisible to the robot's odometry. Ackermann Steering – Square Path (4×4m): The robot follows a square trajectory using the bicycle kinematic model, demonstrating geometric precision at sharp 90° corners. Ackermann Steering – Lemniscate Path (∞ shape): Continuous curvature tracking with bounded and consistent cross-track error. The video concludes with the trajectory and error comparison plots from both experiments, clearly quantifying the odometry blindness phenomenon in skid-steering platforms. This simulation is part of a research paper submitted to IEEE: "Comparative Analysis of Ackermann and Differential Drive Kinematics for Autonomous Mobile Robots on AgileX Limo" Tags/Keywords: #ROS2 #Gazebo #AgileXLimo #MobileRobotics #Kinematics #AckermannSteering #DifferentialDrive #AutonomousRobots #Simulation #Robotics