## 8 Validating the Simulink Dynamic Models of the Robot
### Measured Current for 1 [m] Squared Trajectory with Mecanum Wheel Configuration  
The two graphs presented in Figure 14a,b show the current consumption profiles for the mobile robot following a 1 m square trajectory using Mecanum wheels, with the graph in Figure 14a showing real-world measurements and the graph in Figure 14b showing simulated measurements using a Simulink Simscape dynamic model. Based on the provided graphs, one can draw several conclusions. Both graphs show significant peaks in current at certain points, which are likely to correspond with the robot's maneuvers, such as turning at the corners of the square trajectory. In the first graph in Figure 14a, the highest peak occurs very early, at 0.007469 s, with a current of 16.09 A. Similarly, in the graph shown in Figure 14b, the first peak is also at the beginning, around 0.01 s, with a slightly higher current of 17.44 A. The timing of the peaks in both graphs suggests that the robot experiences the highest current draw at similar instances during the trajectory. However, there is a slight timing difference, with the simulated data showing a slightly earlier peak. This can be attributed to the absence of real-world delays in the simulation. Both graphs display four distinct peaks, which match the four corners of the square trajectory where the robot changes direction. The magnitudes of the peaks in both graphs vary. In the experimental graph shown in Figure 14a, the peaks following the initial one have lower values, whereas in the simulated graph shown in Figure 14b, the subsequent peaks have similar magnitudes to the first peak. The steady-state current, or the current level between the peaks, appears to be consistent in both graphs, indicating that the simulation can accurately model the robot's power consumption during non-maneuvering phases. The shapes of the curves in both graphs are similar, with sharp increases and decreases in current, reflecting the dynamic response of the robot's electrical system to the maneuvers. The simulated graph in Figure 14b has smoother transitions, which is  
Figure 14: Current measurements for 1 [m] squared trajectory with Mecanum wheels: (**a**) experimental; (**b**) simulated. typical for simulated data that do not include the noise or variability found in experimental measurements. Figure 14a shows more variability and noise, as expected from real-world measurements where factors such as sensor precision, battery voltage fluctuations, and varying resistance can affect the readings. Measured Current for 1 [m] Squared Trajectory with Mecanum Wheel Configuration and Omnidirectional Drive  
The two graphs presented in Figure 15a,b show the current consumption profiles for the mobile robot following a 1 m square trajectory using a Mecanum wheel design and omni drive locomotion. The graph in Figure 15a shows real-world measurements. The graph from Figure 15b shows simulated measurements using a Simulink Simscape dynamic model. Comparing the data from the two, it can be seen that both graphs feature prominent peaks indicative of high current demands at specific points in the trajectory. The graph from Figure 15a starts with a peak at time X: 0 s, with a current of 17.18 A, which is a typical surge at the start of motion. The graph presented in Figure 15b shows a similar initial surge, peaking at 21.09 A at X: 1.585 s, which is significantly higher than the experimental peak. The peaks in Figure 15b occur at regular intervals, suggesting a consistent pattern of behavior such as moving sideways onto the imposed trajectory. In Figure 15a, the peaks also follow a regular pattern, but they appear slightly less evenly spaced compared to the simulated data. Between the peaks, Figure 15a shows a relatively steady current, suggesting consistent demand when the robot is not changing direction. Figure 15b exhibits a similar behavior, but with a more pronounced drop to a lower current between the peaks, suggesting that the simulation may not fully account for all the real-world resistive forces acting on the robot.