Validation of the Dynamics Model of a Four-Wheeled Mobile Platform

Abstract

Motion modeling in physics involves determining the physical parameters of motion related to the change in the position of a point or rigid body over time described in the reference system. On the basis of the theoretical model of dynamics of motion presented in the authors' previous works, in this paper the results of numerical and experimental studies of the motion of a four-wheeled mobile platform are presented. The tests were carried out on the basis of plane motion, taking into account the occurrence of wheel slippage. Numerical tests were performed using an original computational algorithm that was used to obtain motion parameter data. Selected cases are described in the work and compared with experimental tests showing the physical parameters of the actual motion of the robot. The experimental research included test runs during which slippage was observed in the form of a deviation of the trajectory from the straight line of motion. Both the nature of the results in graphical form and the values of selected test runs with the corresponding motion simulations have been verified, and the results are included in the work. The conclusions are presented in the last chapter of the work.