Identification of Differential Drive Robot Dynamic Model Parameters.

The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.