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Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage

Anna Jaskot Bogdan Posiadała
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 6 | e139205 | DOI: 10.24425/bpasts.2021.139205
Keywords motion dynamics wheel slippage wheeled mobile platforms equations of motion
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Abstract

In the article the results of simulation and experimental studies of the movement of a four-wheeled mobile platform, taking into account wheel slip have been presented. The simulation results have been based on the dynamics of the four-wheel mobile platform. The dynamic model of the system motion takes into account the relationship between the active and passive forces accompanying the platform motion, especially during wheel slip. The formulated initial problem describing the motion of the system has been solved by the Runge-Kutta method of the fourth order. The proposed computational model including the platform dynamics model has been verified in experimental studies using the LEO Rover robot. The motion parameters obtained on the basis of the adopted computational model in the form of trajectories, velocities and accelerations have been compared with the results of experimental tests, and the results of this comparison have been included in the paper. The proposed computational model can be useful in various situations, e.g., real-time control, where models with a high degree of complexity are useless due to the computation time. The simulation results obtained on the basis of the proposed model are sufficiently compatible with the results of experimental tests of motion parameters obtained for the selected type of mobile robot.
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Authors and Affiliations

Anna Jaskot
1
ORCID: ORCID
Bogdan Posiadała
2
  1. Czestochowa University of Technology, Faculty of Civil Engineering, ul. Akademicka 3, 42-201 Częstochowa, Poland
  2. Czestochowa University of Technology, Faculty of Mechanical Engineering and Computer Science, ul. Dąbrowskiego 73, 42-201 Częstochowa, Poland

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