Visualizing Dynamic Specifications and Predicting Movement Errors of Mobile Robots Using Vehicle Dynamics and Kinematic Modeling

This study explores the applicability of visualizing dynamic information and predicting the operations of batteries and motors from electric vehicle driving data to mobile robots. A motion prediction and specification information visualization simulation, integrating longitudinal and lateral vehicle dynamics with the kinematic and dynamic modeling of mobile robots, was developed using Simulink. The accuracy of the specification information visualization was verified using data obtained through ROS2. By comparing the simulated driving path with the actual path driven by the mobile robot, discrepancies between the simulated and actual driving results were revealed.