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This paper describes a simulation design procedure of a three wheeled mobile robot in order to track a desired trajectory. The novelty of this study is the use of a complete multibody dynamic model of the robot which takes under consideration the contact conditions between tire and ground and the sliding of wheels. The simulations were performed in Matlab/Simulink for a circular trajectory and under three road conditions (dry, wet and ice). The robot’s dynamic behavior is studied and the effectiveness of the presented model of the robot is evaluated.

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Trajectory Tracking Simulation of a Three Wheeled Robot Under Different Road Conditions

  • 会议论文

  • 发表日期：

    2025年

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  • Aymen Khadr,
  • Safa Othman,
  • Ajmi Houidi

摘要

This paper describes a simulation design procedure of a three wheeled mobile robot in order to track a desired trajectory. The novelty of this study is the use of a complete multibody dynamic model of the robot which takes under consideration the contact conditions between tire and ground and the sliding of wheels. The simulations were performed in Matlab/Simulink for a circular trajectory and under three road conditions (dry, wet and ice). The robot’s dynamic behavior is studied and the effectiveness of the presented model of the robot is evaluated.