Trajectory Motion Simulation of a Mobile Robot

摘要

The paper considers an approach to simulating the trajectory motion of a ground four-wheeled robot. All wheels of the considered robot are drive ones and can change their orientation in space. Such a design of the robot allows for high maneuverability and the ability to continue controlled movement in case some of the drives fail. The paper considers building simulation model of the dynamics and kinematics of this robot. The description of the mobile robot dynamics is based on the Newton-Euler equations, taking into account the dynamics of drives and interacting forces of wheels and the road surface. On the basis of the presented mathematical description, a computer model was compiled and the motion of a laboratory robot was simulated in the MATLAB environment.