Authors : Le Quoc Chuan; Pham Quoc Phong; Thach Minh Trong

Volume/Issue : Volume 11 - 2026, Issue 5 - May

Google Scholar : https://tinyurl.com/mr2vkryz

Scribd : https://tinyurl.com/8w3nwbys

DOI : https://doi.org/10.38124/ijisrt/26May1953

Note : A published paper may take 4-5 working days from the publication date to appear in PlumX Metrics, Semantic Scholar, and ResearchGate.

Abstract : Independent velocity coordination at each wheel is a key factor in governing the kinematics and trajectory control of omnidirectional mobile robot configurations. This study investigates the design and experimental validation of an electronic differential system that distributes reference velocities based on the steering input for a four-wheel independent steering and four-wheel independent drive mobile robot. Utilizing the geometric principles of an expanded Ackermann steering model, an inverse kinematic framework is established to map the mathematical constraints between the global linear velocity and localized steering angles, aiming to minimize geometric synchronization mismatches during cornering maneuvers. For the physical validation, a mechatronic prototype intended for baseline algorithm verification was constructed, integrating an Arduino Mega microcontroller, self-locking worm-gear steering mechanisms, and brushless direct current hub motors regulated by four independent drives. To isolate the core actuation performance from stochastic ground-interaction variables, a no-load bench-testing configuration was utilized.

Keywords : Mobile Robot; Brushless DC Motor; Electronic Differential System; Four-Wheel Independent Drive; MATLAB/Simulink.

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