Dynamic modelling of four wheel skid mobile robot by unified bond graph approach

This paper presents a bond graph modelling of a four wheel mobile robotic system. The proposed method is used to describe the dynamics of the system in various physical domains. The developed dynamic model is simulated using the BGV_20 tool box in MATLAB Simulink. The simulated results are verified with the classical Newton-Euler method to illustrate the efficacy of the dynamic modelling technique.