A Study on Kinematic Analysis and Position Tracking Control of a Differential-Driven Four-Wheel Mobile Robot with a Rotary Axis for Steering Characteristic Improvement
Authors
Faculty of Mechanical Science and Technology, Kim Cheak University of Technology, Kyogudong No.60, Yonggwang street, Pyongyang 950003 (Democratic People’s Republic of Korea)
Faculty of Mechanical Science and Technology, Kim Cheak University of Technology, Kyogudong No.60, Yonggwang street, Pyongyang 950003 (Democratic People’s Republic of Korea)
Faculty of Mechanical Science and Technology, Kim Cheak University of Technology, Kyogudong No.60, Yonggwang street, Pyongyang 950003Faculty of Mechanical Science and Technology, Kim Cheak University of Technology, Kyogudong No.60, Yonggwang street, Pyongyang 950003 (Democratic People’s Republic of Korea)
Faculty of Mechanical Science and Technology, Kim Cheak University of Technology, Kyogudong No.60, Yonggwang street, Pyongyang 950003 (Democratic People’s Republic of Korea)
Article Information
DOI: 10.51584/IJRIAS.2025.10100000150
Subject Category: Robotics
Volume/Issue: 10/10 | Page No: 1679-1689
Publication Timeline
Submitted: 2025-10-09
Accepted: 2025-10-16
Published: 2025-11-18
Abstract
The wheel layout of a wheeled mobile robot has a crucial role in the steering characteristics of a mobile robot. In this paper, a differential-driven structure with a rotary axis is proposed to improve the steering characteristics of a differential-driven four-wheeled mobile robot, and its kinematic analysis and position tracking control performance are analyzed. To verify the effectiveness of the proposed structure, a comparative analysis of the position tracking performance with a generalized differential-driven mobile robot is carried out. Simulation and experimental results show that the proposed structure mobile robot has superior position tracking performance and smaller turning radius compared to the generalized differential-driven wheeled mobile robot.
Keywords
differential driven mobile robot, steering characteristics, kinematic analysis, position tracking control
Downloads
References
1. Michael Hofbaur, Christoph Gruber, and Mathias Brandsto¨tter, Automated Kinematics Reasoning for Wheeled Mobile Robots, Springer, 2013:175-191 [Google Scholar] [Crossref]
2. C. Canudas de Wit, B. Siciliano, G. Bastin. Theory of robot control, Springer, 1996. [Google Scholar] [Crossref]
3. E. Bugarin, R. Kelly. RTSVC: Real-Time system for visual servo control of robots”., International Journal of Imaging Systems and Technology, Vol 18, No. 4, 2008, pp. 251-256. [Google Scholar] [Crossref]
4. W. Dixon, D. Dawson, E. Zergeroglu, and Q. Behal. Nonlinear control of wheeled mobile robots., Springer, London, UK, 2001 [Google Scholar] [Crossref]
5. Roland Siegwart, Illah R. Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2004, 13-88. [Google Scholar] [Crossref]
6. Yilin Zhao. et al. Kinematics, Dynamics and Control of Wheeled Mobile Robots, Proc.1992 IEEE Int, Conf, RA.1992, 91-96. [Google Scholar] [Crossref]
7. Francesco Galasso, Dario Lodi Rizzini, Fabio Olearib, Stefano Caselli, Efficient calibration of four-wheel industrial AGVs, Robotics and Computer Integrated Manufacturing, 2019, 57: 116-128 [Google Scholar] [Crossref]
8. Leonardo Mar´ın, Marina Valles, Angel Soriano, Angel Valera, Pedro Albertos, Event-Based Localization in ackerman steering limited resource mobile robots, IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2014,8:1171-1182 [Google Scholar] [Crossref]
9. Haojie Chen, Hong’an Yang, Xu Wang and Ting Zhang, Formation control for car-like mobile robots using front-wheel driving and steering, International journal of advanced robotics systems, 2018, 7:1-10 [Google Scholar] [Crossref]
10. Chih-Lyang Hwang, Nai-Wen Chang, Fuzzy Decentralized Sliding-Mode Control of a Car-Like Mobile Robot in Distributed Sensor-Network Spaces, 2008, 2:97-109 [Google Scholar] [Crossref]
11. Jin Xin, Huang Jie, Zhang Ke, Wu Yixiong, Kinematics Modeling and Real-time Seam tracking for Welding Mobile Robot, International Conference on Digital Manufacturing & Automation, 2011:681-685 [Google Scholar] [Crossref]
12. A.A. A. Razak, A.H. Abdullah, K. Kamarudin, F.S.A. Saad, S.A. Shukor, H. Mustafa, M.A.A. Bakar, Mobile robot structure design modeling and simulation for confined space application, 2014: 1-5 [Google Scholar] [Crossref]
13. Mircea Niţulescu, Modeling and control for a class of mobile robots, International Federation of Automatic Control Conference on Management and Control of Production and Logistics, 2007, 9: 27-30 [Google Scholar] [Crossref]
14. Chih-Lyang Hwang, Li-Jui Chang, Yuan-Sheng Yu, Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots, IEEE/Transactions on Industrial electronics, 2007,2:574-585 [Google Scholar] [Crossref]
15. Joaquín Gutiérrez · Dimitrios Apostolopoulos, José Luis Gordillo, Numerical comparison of steering geometries for robotic vehicles by modeling positioning error, 2007,23:147-159 [Google Scholar] [Crossref]
16. Diana Diaz, Rafael Kelly, On Modeling and Position Tracking Control of the Generalized Differential Driven Wheeled Mobile Robot, IEEE, 2014: 1-6 [Google Scholar] [Crossref]
17. ZHANG Feng, LI Changguo, YUAN Shuai, LI Siqi, ZHAO Languang, Research on kinematic modeling and path following for wheeled mobile robot, Chinese Control Conference, 2016, 7:27-29 [Google Scholar] [Crossref]
18. Genya Ishigami, Kazuya Yoshida, Steering characteristics of an exploration rover on loose soil based on all-wheel dynamics model, IEEE/International conference on intelligent robots and systems, 2005:2041-2046 [Google Scholar] [Crossref]
19. Imad Matraji, Ahmed Al-Durra, Andri Haryono, Khaled Al-Wahedi, Mohamed Abou-Khousa, Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control, Control Engineering Practice, 2018, 72:167-176 [Google Scholar] [Crossref]
20. Martin Velasco-Villa, Eduardo Aranda-Bricaire, Hugo Rodríguez-Cortés, Jaime González-Sierra, European Journal of Control, 2012, 4:348-355 [Google Scholar] [Crossref]