Dynamic modeling and analysis of Wheel Skid steered Mobile Robots with the different angular velocities of four wheels

Abstract

Wheel Skid-steered Mobile Robots(WMSR) are widely used because of the simplicity of mechanism and high reliability. At present, the most research concentrate on the suppose that each side's two wheels rotate at the same speed. In this paper, we present the dynamic modeling of WSMR with the different angular velocities of four wheels. Simulation results based on a four-wheel robot prototype are demonstrated for effectiveness and efficiency of the proposed modeling.