A Development of Utilising MR to get Dynamic Motion to Solve Applications in Space

This paper describes an adaptive motion control system with potential field method to allow a mobile robot to move respectfully. A risk map was first defined to show the level of risk for open areas around objects. Afterwards, the robot’s movement, based on the integrated potential field method, was conducted through the planning of a respectful path based on a defined risk map. Accordingly, the robot moves respectfully and independently of simply avoiding interference with other people by following a set of very predefined constraints. This paper shows the design process as well as testing results of dynamic models for a Pioneer 3DX mobile robot in MATLAB/SIMULINK. Both models, physical and experimental, were developed and both emulated the dynamics of the robot’s movement well enough to confirm performance by applying real-world data. The physical model incorporated all the kinematic equations and all parameters of the drive system of the robot. The experimental model confirmed the physical model versus actual measurements. Testing the model versus two sets of the test data reveals one level of error of which the estimated and measured velocities were not equal; and the experimental model addressed this by minimizing the error level in comparison with the physical model. Such insights from these models are of great value for understanding the behavior of the robot, but further refinement needs to be considered for real-life scenarios in order to enhance their performance, considering observed errors. All in all, dynamic models presented provide basis for future research in mobile robot motion control and navigation algorithms.