id author title date pages extension mime words sentence flesch summary cache txt american_scientific_journal-2190 Mahmood, Ali Khaleel; Bicker, Robert Path Planning, Motion Control and Obstacle Detection of Indoor Mobile Robot 2016 17 .pdf application/pdf 4319 209 61 Finally, it is essential to compute the rotational component οΏ½Μ‡οΏ½πœƒ ofπœ‰πœ‰οΏ½Μ‡οΏ½π‘…. The contributions of each wheel can be computed independently and just added Combining these individual formulas (�̇�𝑋𝑅𝑅 , οΏ½Μ‡οΏ½π‘Œπ‘…π‘… , οΏ½Μ‡οΏ½πœƒπ‘…π‘…) yields a kinematic model for the differential-drive mobile robot: π‘Ÿπ‘Ÿ οΏ½Μ‡οΏ½πœ“π‘…π‘… 2𝐿𝐿 = �̇�𝑋𝑅𝑅2 𝐿𝐿 ⟹ �̇�𝑋𝑅𝑅2 = 1 2 π‘Ÿπ‘Ÿ οΏ½Μ‡οΏ½πœ“π‘…π‘… (3) �̇�𝑋𝑅𝑅 = 1 2 π‘Ÿπ‘Ÿ οΏ½Μ‡οΏ½πœ“πΏπΏ + 1 2 π‘Ÿπ‘Ÿ οΏ½Μ‡οΏ½πœ“π‘…π‘… (4) 𝑀𝑀1 The ability of mobile robots to perform a significantly extended range of tasks and services many locations offer a great request for specialized applications that lead to increase the interest in mobile robots. cache/american_scientific_journal-2190.pdf txt/american_scientific_journal-2190.txt