Dynamic modeling and analysis of Wheel Skid steered Mobile Robots with the different angular velocities of four wheels

Wheel Skid-steered Mobile Robots(WMSR) are widely used because of the simplicity of mechanism and high reliability. At present, the most research concentrate on the suppose that each side´s two wheels rotate at the same speed. In this paper, we present the dynamic modeling of WSMR with the different angular velocities of four wheels. Simulation results based on a four-wheel robot prototype are demonstrated for effectiveness and efficiency of the proposed modeling.