Dynamic modelling of a skid-steered twelve wheeled Mobile Robot using a ‘slip’-‘friction coefficient’ relationship and its trajectory tracking control

The paper deals with the dynamic modeling of twelve wheeled mobile robot which is used mostly for stair climbing. The robot implements skid steering which is one of the most popular steering mechanisms. The Kinematic equations of the robot are presented initially for which a particular relationship between slip and friction coefficient has been approximated out from the actual data. The dynamic equations are later developed from feedback equations are formulated. The nonlinear feedback equations are linearized using Lie Algebra and are then utilized to develop a controller for the trajectory tracking control of the robot. A model of the robot has been prepared using the Computer Aided Designing (CAD) software CATIA and presented for the ease of studies and visualization of the implemented design and control approach. Simulation is carried out using Simulink toolbox of MATLAB software and the simulations results of the tracked trajectory are also presented.