The Twinning Technique of the SyncLMKD Method

This article introduces a novel technique for establishing a Digital Twin counterpart twinning methodology, aiming to attain elevated fidelity levels for mobile robots. The proposed technique, denominated as Synchronization Logarithmic Mean Kinematic Difference (SyncLMKD), is elucidated in detail within the confines of this study. Addressing the diverse fidelity requirements intrinsic to Industry 4.0’s dynamic landscape necessitates a sophisticated numerical method. The SyncLMKD technique, being numerical, facilitates the dynamic and decoupled adjustment of compensations about trajectory planning. Consequently, this numerical methodology empowers the definition of various degrees of freedom when configuring environmental layouts. Moreover, this technique incorporates considerations such as the predictability of distances between counterparts and path planning. The article also comprehensively explores tuning control, insights, metrics, and control strategies associated with the SyncLMKD approach. Experimental validations of the proposed methodology were conducted on a virtual platform designed to support the SyncLMKD technique, affirming its efficacy in achieving the desired level of high fidelity for mobile robots across diverse operational scenarios.