Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework
Rached Dhaouadi* and Ahmad Abu Hatab
Anthropologist of health, University of Bouaké, Côte d’Ivoire
- *Corresponding Author:
- Rached Dhaouadi
College of Engineering, American University of Sharjah
P.O. Box 26666, Sharjah, UAE
E-mail: [email protected]
Received June 19, 2013; Accepted September 16, 2013; Published September 19, 2013
Citation: Dhaouadi R, Hatab AA (2013) Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework. Adv Robot Autom 2:107 doi: 10.4172/2168-9695.1000107
Copyright: © 2013 Dhaouadi R, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
This paper presents a unified dynamic modeling framework for differential-drive mobile robots (DDMR). Two formulations for mobile robot dynamics are developed; one is based on Lagrangian mechanics, and the other on Newton-Euler mechanics. Major difficulties experienced when modeling non-holonomic systems in both methods are illustrated and design procedures are outlined. It is shown that the two formulations are mathematically equivalent providing a check on their consistency. The presented work leads to an improved understanding of differentialdrive mobile robot dynamics, which will assist engineering students and researchers in the modeling and design of suitable controllers for DDMR navigation and trajectory tracking.