Dynamic Modeling of Wheeled Mobile Robots for High Load Applications

This paper examines dynamic modeling of differentially and conventionally steered Wheeled Mobile Robots (WMRs) for high load applications such as highway maintenance and construction. Dynamic models including an accurate tire representation are developed for both types of WMRs. In addition to these dynamic models, both kinematic and simplifted dynamic models are also developed for purposes of comparison. The simplified dynamic model utilizes a greatly simplified tire representation. Through the use of simulation, the limits of validity of each of the models is determined thus allowing for the selection of the model most appropriate for a given application. Additionally, the accuracy of the dead reckoning vehicle tracking process is investigated.