Model of Mobile Robot with Divided Chassis

Ľubica Miková^1, , Michal Kelemen¹ and Alexander Gmiterko¹

¹Technical University of Košice, Faculty of Mechanical Engineering, Department of Mechatronics, Košice, Slovakia

Cite this paper:
Ľubica Miková, Michal Kelemen and Alexander Gmiterko. Model of Mobile Robot with Divided Chassis. Journal of Automation and Control. 2015; 3(3):110-113. doi: 10.12691/automation-3-3-14

Abstract

This article is about designing and constructing a four-wheel chassis, which will possess better negotiability of diverse terrain. 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. A model is also required for examining behavior of chassis on diverse terrain, for examining the influence of dimensions on chassis behavior during crossing over roughness of terrain.

Keywords:
mobile robot simulation

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