eng Science and Education Publishing Journal of Automation and Control 2372-3041 2017-12-11 5 2 54 59 10.12691/automation-5-2-5 AUTOMATION2017525 article Tomáš Lipták tomas.liptak@tuke.sk 1 Michal Kelemen 1 Alexander Gmiterko 1 Ivan Virgala 1 Darina Hroncová 1 Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia The article deals with the issue of mathematical modelling of wheeled mobile robot. The introductory part of article contains theory regarding different approaches of mathematical modelling that we used. Further we applied these methods of mathematical modelling to wheeled mobile robot and we determined the mathematical model. The last part contains the motion planning in the base space and motion planning in the fiber space. These simulations of movement were realized in MATLAB. http://pubs.sciepub.com/automation/5/2/5/automation-5-2-5.pdf lagrangian mechanics geometric mechanics mathematical modelling motion planning