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This paper presents the application of the concepts and approaches of lineargraph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobilerobotic system. An LG representation of the system is proposed and theaccompanying state-space model of the dynamics of a mobile robot system isevaluated using the associated LGtheory MATLAB toolbox, which was developed inour lab. A genetic algorithm (GA)-based parameter estimation method is employedto determine the system parameters, which leads to a very accurate simulationof the model. The developed model is then evaluated and validated by comparingthe simulated LG model trajectory with the trajectory of a ROS Gazebo simulatedrobot and experimental data obtained from the physical robotic system. Theobtained results demonstrate that the proposed LG model, combined with the GAparameter estimation process, produces a highly accurate method of modeling andsimulating a mobile robotic system.

Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs