Alsina, Pablo JavierGuerra, Patrícia Nishimura2014-12-172006-12-212014-12-172005-02-03GUERRA, Patrícia Nishimura. Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial. 2005. 80 f. Dissertação (Mestrado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2005.https://repositorio.ufrn.br/jspui/handle/123456789/15437This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robotapplication/pdfAcesso AbertoIdentificação ParamétricaRobôs MóveisModelo LinearMínimos QuadradosParameter IdentificationMobile RobotsLinear ModelLeast Mean SquaresmasterThesisCNPQ::ENGENHARIAS::ENGENHARIA ELETRICA