2 Complete simulation of a mobile robot with MATLAB: Background / Simulation скачать в хорошем качестве

2 Complete simulation of a mobile robot with MATLAB: Background / Simulation

George Holmes, PhD student in Mechanical Engineering, presents a simulation of a differential drive robot in MATLAB using a discrete time implementation. Includes both kinematic and dynamic controllers, simulation of the dynamics, and an update of the kinematic pose. engineeredterrain.com www.linkedin.com/in/george-holmes-b4a87b27 IG: @georgos_technology The first part of the three part series provides motivation for a series of videos simulating of a differential drive robot entirely in MATLAB using a discrete time implementation as opposed to the classic ODE solver. The second part of the video series provides relevant background in robotics to understand the simulation; including kinematics, dynamics, reference / actual robots, position errors, and command velocity. Additionally, a complete walk through of the simulation code is provided. The third and final part discusses the plots generated from the simulation using a two layer NN controller.