Investigation Of Kinematic Model For Khepera III Mobile Robot

Johari, Ahmad Fairuz (2018) Investigation Of Kinematic Model For Khepera III Mobile Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Investigation Of Kinematic Model For Khepera III Mobile Robot.pdf - Submitted Version Download (399kB)

Abstract

Kinematic model is important for the robot navigation and path planning. However, it is difficult to get an accurate kinematic model for a differential drive robot, due to many reasons such as unequal wheel diameters, misalignment of wheel, limited encoder resolution and others. Thus, the purpose of this research is to investigate the optimum kinematic model for Khepera III mobile robot. The performance of kinematic model was analyzed by comparing the resulting robot’s trajectory and ground truth data. Then, the accuracy of the robot trajectory was improved by experimenting with kinematic model’s parameter. To achieve this, a controlled environment was set up along with the software to capture the path taken by the robot using SwisTrack software. The collected data were analyzed using the Mean Square Error equation to calculate the sum of error difference between kinematic model and ground truth in order to improve the accuracy of resulting Khepera III robot trajectory.

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