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http://ir.futminna.edu.ng:8080/jspui/handle/123456789/17603| Title: | Simulink Modelling and Simulation of Mobile Agricultural Robots for Farm Monitoring |
| Other Titles: | Nigerian Journal of Engineering Science Research (NJESR) |
| Authors: | Mohammed, Abubakar Saddiq Alkali, Babawuya Suleiman, I. Adedipe, O. Salihu, Bala. A. Agonga, O. F. |
| Keywords: | Controller Differential Drive Kinematics Mobile Robots Modelling |
| Issue Date: | Dec-2021 |
| Publisher: | Igbinedion University |
| Citation: | Abubakar Saddiq Mohammed |
| Abstract: | Abstract: Mobile robots are immensely important robots used for various applications; agriculture, military, firefighting and space exploration. The differential drive configurations are widely used due to their simplicity, easiness of control and flexibility. This paper describes the kinematics and dynamics Simulink model of a differential drive robot and control algorithm for the robot. The robot dynamics were formulated using Lagrangian mechanics and the system characteristics were studied by Proportional integral derivative (PID). Also, a Simulink model was developed for modelling the mobile robot which can be used for further research on mobile robots. The efficacy of the designed controllers has been studied and seen to control the robot with with an error of 0.15 m and deviation time of 10 s. |
| URI: | www.researchgate.net/publication/353381150 http://repository.futminna.edu.ng:8080/jspui/handle/123456789/17603 |
| Appears in Collections: | Telecommunication Engineering |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| NIJESR-44-pp.-01-11-December-2021-converted.pdf | 492.86 kB | Adobe PDF | View/Open | |
| NIJESR 04(03)-05, 2021. EDITORIAL.pdf | 152.93 kB | Adobe PDF | View/Open |
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