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This article focuses on mathematical modelling of mobile robot with differentially driven two-wheel chassis. The derivation of kinematic model is based on holonomic constraints for it’s wheels movement, that are expressed through geometric transformations between robot’s local coordinate system and the global coordinate system, in which the robot is moving. Within the dynamics derived using the Newton’s laws, the friction between the contact surfaces of wheels and plane is also included as a generalized model. Mathematical model is implemented in the Simulink environment with internal control loop that suppress the impacts of dynamics. Conducted simulation experiments in open and closed-loop demonstrate, how the inclusion of the friction can have serious impact on the mobile robot final position in meaning of the forces, which are acting on it’s movement.

NONHOLONOMIC MOBILE ROBOT WITH DIFFERENTIAL CHASSIS MATHEMATICAL MODELLING AND IMPLEMENTATION IN SIMULINK WITH FRICTION IN DYNAMICS