Design, Kinematic and Dynamic Modelling, Control and Path Tracking of 3 Wheels Mobile Robot Vehicle

The design of a 3-wheeled mobile robot with a front wheel steer for path tracking is presented in this article, along with generic kinematic and dynamics modelling and control strategies. Even though three-wheeled vehicles with front wheel steers are frequently used in public transportation, their benefits for navigation and vehicle localization are rarely used. The brushless DC hub motor is being used as a front active wheel for mobility, and the rear two wheels are passive. The first part of this paper covers three-wheel robotic vehicle dynamic calculations for the selection of motor, battery, and controller. The second section of the article includes kinematic and dynamic mathematical modelling for the specific proposed configuration. The 3D CAD model of the proposed robotic vehicle is developed in solid modelling software. Finally, the kinematic control proposed is applied to the vehicle by explicitly using kinematic governing equations and BLDC hub motor controller modelling by MATLAB/Simulink, which follow path trajectories in simulation.