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8 months ago in Scopus By Shreesha

Can you suggest resources for a dynamic model of a 3-DOF two-wheeled mobile robot (like an inverted pendulum) involving its position, velocity, and heading angle?

What resources would you recommend for developing a dynamic model of a 3-DOF two-wheeled mobile robot (similar to an inverted pendulum) that accounts for position, velocity, and heading angle?

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By Jasmin Answered 3 months ago

For a standard differential drive robot (position x,y and heading θ), consult textbooks like "Introduction to Autonomous Mobile Robots" by Siegwart & Nourbakhsh. For a dynamic model that includes balance (like a mobile inverted pendulum), research papers on "Two-Wheeled Inverted Pendulums" are key. These models use Lagrangian mechanics. Simulation software like MATLAB/Simulink, Webots, or PyBullet is excellent for implementing and testing these complex models.

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