The kinematic analysis and simulation for four-wheel independent drive mobile robot

摘要

This article takes the four-wheel independent driving mobile robots as research object, uses the point method and the instantaneous center method to analysis its state of motion with its four different wheel speed, and construct its kinematic model which is different with two differential steering mobile robots or the kinematic model that makes the same side sliding steering wheel speed assumption. The we research the trajectory tracking control method for the four-wheel independent driving mobile robot, as its system is complex and nonlinear, general control methods can't achieve rapid and effective control, thus this paper proposed the model-based nonlinear control method for this system. Finally, on the basis of the kinematic model we make a series of simulation for the four-wheel independent driving mobile robot, and add the nonlinear control method for tracking test. The simulation results confirm the effectiveness of the proposed kinematic model and trajectory tracking method.