Simulation of rectilinear motion of a four-wheel car-like robot with an electromechanical drivetrain

Abstract

In this article the model of an autonomous wheeled robot with an electromechanical drivetrain which is moving rectilinearly is described. The proposed model of the four-wheel car-like robot with front and rear-wheel drive performed in the Matlab/Simulink environment represents the physical aspects of the “flexible” transmissions (the ability to adjust required torque between axes at any specific time depending on motion conditions). Also in the article the research results conducted by simulation approach are presented. They well correlate with the research results of other authors and prove the consistency of the model.