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This paper presents a derivation of a dynamic simulation of a steerable-wheelmobile robot with wheel slip. The robot is controlled using pure pursuitalgorithm. Kalker simplified and linear theory of rolling contact are utilizedto describe friction-creepage relationship between the robot wheel and theground. Two simulations were created based on the two friction models.Simulation results of the two models are presented and compared.

Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots