Control of a Wheeled Mobile Robot Following a Set Trajectory

Abstract

In the article, the problems of stability during movement of a four-wheeled mobile robot along a set trajectory are investigated. The object of the study is a wheeled mobile robot with front turning and rear driving wheels according to the Ackerman scheme. A simulation was made based on a bicycle mathematical model, in which the longitudinal and transverse stability are calculated. The simulation shows that the accelerations do not exceed the limit values guaranteeing the stability of the robot during the movement along the set trajectory.