Modeling and analysis of motion with wheel slip of the mobile platform with four wheel drive

Abstract

The problem of motion with wheel slip of the four wheeled mobile platform has been discussed in this work. Considering the model of dynamics, the formulation of the initial problem of the platform motion and the numerical algorithm for solving this problem has been presented. The Runge-Kutta 4th order method has been used to integrate the equations of motion. Possible cases of motion of the prototype of the mobile platform with four drive modules have been considered. Taking into account the variable values of the active forces caused by the drive torque and changes in the position of the wheels during the platform motion, as well as the resistant forces opposing the active forces at the contact points of the wheels with the ground, the platform motion simulation results have been obtained. Different wheel settings, with controlling the active forces and directions of their settings while driving have been implemented to the model. The results of motion simulations and their analysis have been included. The results presented in the paper show a significant influence of wheel slip on the parameters of the motion of the mobile platform. The computational model presented in the paper enables a good representation of the platform motion parameters, which has been confirmed by comparing the results of simulation tests with the results of experimental tests of motion in relation to a construction solution of the platform other than described in the paper. Further development of the computational model is planned, mainly in order to include the deformability of the wheel suspension systems in the dynamic model of the platform, which will allow for the implementation of wider studies of the motion of such objects, including, for example, in the case of wheels passing through obstacles.