Investigating parameters in the dynamic configuration of four-wheeled and six-wheeled skid steering mobile robots to improve on-site rotation performance



  • Quach Xuan Nam Institute of Military Technical Automation, Academy of Military Science and Technology
  • Dang Nam Kien (Corresponding Author) Institute of Military Technical Automation, Academy of Military Science and Technology
  • Le Duc Anh Institute of Military Technical Automation, Academy of Military Science and Technology



Mobile robot; Four wheeled skid-steering mobile robot; SSMR; Dynamic model; On site rotation.


This article studies the dynamic model of a four-wheeled and six-wheeled skid-steering mobile robot (SSMR), focusing on the on site rotation mode (zero turning radius). From there, the influence of some parametters in dynamic configuration of the robots on the rotation performance is built, without changing the robot's drive motor. Then the optimal choice of these parameters can be made to improve the robot's on-site rotation performance. The research results are simulated and demonstrated on MATLAB.


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How to Cite

Quách Xuân Nam, Đặng Nam Kiên, and Lê Đức Anh. “Investigating Parameters in the Dynamic Configuration of Four-Wheeled and Six-Wheeled Skid Steering Mobile Robots to Improve on-Site Rotation Performance”. Journal of Military Science and Technology, no. CAPITI, Apr. 2024, pp. 34-40, doi:10.54939/1859-1043.j.mst.CAPITI.2024.34-40.



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