Tracking the prescribed path through an autonomous mobile robot with four wheel steering
Lajqi, Shpetim ...
In this paper a special six wheeled mobile robot intended to use for special required conditions of driving is presented. Especially attention is dedicatedon the development and design of steering ...system that should follow as much as possible the prescribed path of mobile robot. Mobile robot is powered by the electric motors which are driven by all six wheels. Four wheels are steered separately by the wire supported by hydraulic piston. The mobile robot is modeled and analyzed by mathematical simulations in order to check its behavior on advance prescribed path that is decisional. Simulation is carried out by using MATLAB/Simulink software that excessively reduces the developing time, improve final component design and reduces the complicity of solving equations. Some effective simplification of suspension system is done to speed the simulations. Achieved results that are presented in this paper may in general help the designer of robotics vehicles equipped with all wheels drive.
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