A kinematic modeling method for a wheeled mobile robot

This paper presents a modeling method called “Wheel-Center Modeling” for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called “Rocker-bogie” suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane.