Motion Modeling of the Four-Wheeled Mobile Platform Under Slippage Conditions

The work is dedicated to the designing motion of the four wheeled mobile platform under the unsteady conditions. The prototype of platform equipped with four drive modules is considered. The description of the platform’s dynamics has been proposed in the paper. The theoretical and calculation models of the platform have been determined. The prototype model is useful to examine different configurations of the drive wheels and to analyse the relations between the causes and effects of the motion. In order to build an universal algorithm in understanding the platform’s motion and in order to know limits of the motion parameters the solution of the problem is presented. The relations between friction forces, in longitudinal and transverse directions, and the active forces, with resistance forces are considered. The formulated initial problem has been solved numerically with use of the Runge-Kutta method of the fourth order. The sample simulation results are included in the paper.