Trajectory Tracking Simulation of a Three Wheeled Robot Under Different Road Conditions

This chapter delves into the simulation of a three-wheeled robot's trajectory tracking under various road conditions, focusing on the impact of wheel slip. The study employs a multibody dynamic model and the Kiencke tire contact model to analyze the robot's performance on dry, wet, and icy surfaces. Key topics include the mathematical modeling of the robot, the design of the control system for trajectory tracking, and the simulation results that highlight the robot's behavior on different surfaces. The findings reveal that the robot successfully tracks the desired trajectory on dry and wet surfaces but struggles on icy surfaces due to significant wheel slip. The study concludes with insights into the robot's stability and control challenges on low-adhesion surfaces, suggesting the need for advanced control methods to ensure stability during motion.