@inproceedings{216faf851d76415caa2bbba83a446014,
title = "Modeling, simulation and control of a differential steering type mobile robot",
abstract = "This paper presents the modeling and control of a differential steering type mobile robot by using ADAMS/MATLAB Co-Simulation with the aim of establish the robot's movement from a start point to an end point. The simulation model of the mobile robot is obtained by using MSC ADAMS software, and a PD control with velocity feedback is implemented with MATLAB/Simulink software. The simulation model of the differential steering type mobile robot was validated by testing out the robot's movement through different point-to-point trajectories as well as multi-point trajectories and analyzing the position error obtained in each trajectory. Robustness tests were performed to verify the performance acceptable of the implemented controller.",
keywords = "Co-simulation, MATLAB, MSC ADAMS, differential steering, joint position, kinematic model, mathematical model, spatial position",
author = "L. Angel and C. Hernandez and C. Diaz-Quintero",
year = "2013",
month = oct,
day = "18",
language = "Ingl{\'e}s",
isbn = "9789881563835",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "8757--8762",
booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",
note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",
}