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Wheeled mobile robots in today’s world are the most common mobile robots. But most of these robots are smaller in size and lighter in weight. Generally these robots are programmed to velocity of 1 m/s, with kinematic control scheme. In the present work, a four wheeled mobile robot of 114.39 kg mass is modeled to move with a linear velocity of greater than 3 m/s. At this speed, due to the centrifugal force experienced by the robot, it is controlled by a model-based dynamic control scheme. The mathematical model of the robot is developed using MATLAB 2021b software and its CAD model is prepared using SolidWorks 2019 software. By simulation result it is found that the robot was stable at a constant acceleration of 0.2 m/s2 for a 10 s of simulation time and followed the desired helical trajectory successfully.

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Design and Development of a Dynamically Stable Wheeled Mobile Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Prashant Raturi,
  • Yatendra Kumar,
  • Santhakumar Mohan

摘要

Wheeled mobile robots in today’s world are the most common mobile robots. But most of these robots are smaller in size and lighter in weight. Generally these robots are programmed to velocity of 1 m/s, with kinematic control scheme. In the present work, a four wheeled mobile robot of 114.39 kg mass is modeled to move with a linear velocity of greater than 3 m/s. At this speed, due to the centrifugal force experienced by the robot, it is controlled by a model-based dynamic control scheme. The mathematical model of the robot is developed using MATLAB 2021b software and its CAD model is prepared using SolidWorks 2019 software. By simulation result it is found that the robot was stable at a constant acceleration of 0.2 m/s2 for a 10 s of simulation time and followed the desired helical trajectory successfully.