Science and Education Publishing American Journal of Mechanical Engineering 1 7 2013 11 18 Mathematical Modeling of Wheeled Mobile Robots 246 250 EN Ľubica Miková Technical University of Košice, Faculty of Mechanical Engineering, Department of Applied Mechanics and Mechatronics Košice, Slovakia Michal Kelemen Miloslav Čurilla AJME20131719 10.12691/ajme-1-7-19 2013 10 09 2013 10 27 2013 11 18 This article is about designing and constructing a four-wheel chassis. Current changes to the terms of advanced mechatronic systems (currently in robotic systems) and current intensity of demands on them in practice require new insights into the processes and techniques of designing and verification of the project designs. Analyzed is a used concept of chassis motion control of mechatronic systems on the principle of differential wheel control for the task of active tracking of planned chassis path. Created was a simulation model of chassis mobile system in terms of kinematics, which will be usable in concept of chassis locomotion control on diverse terrain.