This is the second slide in the series on Robot Control using ROS tutorial. We give an introduction to the kinematic modelling of Mobile Robots in ROS and test its implementation in the Turtlesim simulator. You can find the tutorial on our youtube playlist: https://www.youtube.com/watch?v=yL4Rllx70vs&list=PL4T23RsIw5Qz2wDcZHZMVA33hjkzwx_Iq Previous Slide: https://www.slideshare.net/jagorobotika/robot-control-using-ros-an-introduction List of commands: https://jagorobotika.wordpress.com/2019/06/09/kinematic-modelling-of-mobile-robots-in-ros/

1. Robot Control using ROS:
Kinematic Modelling
By:
Dr. Ahmad Ataka
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2. Motivating Questions
• What is a model?
• Why do we need a model?
• What is kinematics?
• How to model the kinematics of a
mobile robot?
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3. What a model is and isn’t
A model isn’t
• someone who walks on the catwalk
to promote clothes
• an extremely good guy whose
behavior is an example to be
followed
A model is
✓ a simplified, mathematical
representation of a real /
physical system
Mathematical
Model
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4. Infographic Style
• Describe the behaviour of
the system
• Estimate the future
behaviour of the system
• Give an insight regarding the
property of the system
• Prepare for a better control
strategy
Usage:“All models are
wrong, but some
are useful.”
George Box
Is model useful?
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5. Model example
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6. What is kinematics?
Studying the MOTION of an object without considering its CAUSES
MOTION:
Speed, velocity, acceleration
CAUSES:
Force, torque
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7. Kinematics model of a mobile robot
Position VelocityOrientation
Input:
• Linear speed
• Angular speed
Output:
• Position
• Orientation / heading
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8. Demo in ROS
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9. What will we learn
Kinematics modelling of mobile robot01
Basic position and orientation control02
Basic navigation towards the goal03
Obstacle avoidance04
05 Basic navigation of multi-agent robots
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10. bit.ly/jagorobotika
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