Dynamic Modeling and Simulation of Mobile Robot Under Disturbances and Obstacles in an Environment

摘要

This paper aims to develop a mathematical model of a mobile robot, utilizing a deductive approach to create a versatile model applicable to various tasks and adjusted for specific scenarios.The study employed dynamic modeling and simulation analysis to investigate the posture stabilization of a mobile humanoid upperbody robot amidst diverse disturbances and cart movements.Control strategies were implemented, and simulations were conducted using MATLAB to assess the robot's stability and performance under various scenarios.The findings demonstrate the robot's successful navigation through various obstacle configurations, albeit encountering challenges at higher speeds.The study emphasizes the relevance of mobile robots in human-centered environments, underscoring the importance of balance, stability, and accuracy in robot functioning.This research provides new insights and directions for future studies in the field of mobile robotics.It highlights the practical implications of developing humanoid robots capable of navigating complex environments, contributing to advancements in service robotics.By developing a mathematical model and simulating the performance of a wheeled humanoid robot in obstacle environments, this study offers original contributions to the literature.It underscores the significance of addressing challenges related to robot posture, robustness, and obstacle avoidance in enhancing the functionality of humanoid robots in real-world applications