Four Wheeled Mobile Robots: A Review

Abstract

Wheeled mobile robots are becoming popular in recent years due to their applications that have impacted various aspects of daily life. With the advancement of technology, the demand for wheeled mobile robots especially four wheeled mobile robots has risen. The rise in demand had urged further research and development of more advanced wheeled mobile robots. In this paper, the recent development and focused on four wheeled mobile robots such as the types of wheels, types of steering systems, and control methods are reviewed. For the four wheeled mobile robots to have better steerability and superior cornering stability, the four-wheel steering systems are employed. Depending on the application, the used of standard or fixed wheels in four-wheel steering system also has better efficiency and accuracy compared to the Omni or mecanum wheels with similar maneuverability for indoor designs application. To effectively deal with the four-wheel steering mobile robot dynamic behavior, the payload uncertainty, system uncertainties and unknown disturbances including the parametric vibrations that lead to tracking performance limitations have to be overcome. For further improvement in tracking the performance of four-wheel steering mobile robots, the main issue is to tackle the payload uncertainty. An adaptive control method is proposed to overcome the issue and this method provided future research directions for the four-wheel steering mobile robot.