Simulation study on four-wheeled mobile robot mechanisms using various performance criteria

In this paper, the performance criteria for various four-wheeled mobile robots that are crucial for assessing a robot’s fitness for mobility to successfully complete missions are introduced. The seven proposed performance indices, the root mean squared acceleration (RMSA), posture variance index (PVI), static stability margin (SSM), force angle stability margin (FASM), energy stability margin (ESM), friction requirement (${\mu }_r$), and velocity constraint violation (VCV), address the fluctuation, rollover, and slippage problems in four-wheeled mobile robots. The simulations considered a square bump-shaped obstacle, and the dimensions of the robot were based on nine simulation cases in a 3D environment. Additionally, a methodology for evaluating these seven criteria is outlined. To streamline the simulation process, Taguchi’s catalog of orthogonal arrays (OAs) was used for the experimental design, specifically L9 OA with four factors and three levels was used. Analysis of means (ANOM) was applied to assess the influence of each design factor on the seven criteria, leveraging the OA orthogonality. Finally, the sensitivity analysis and potential for evaluating general mobile robots in the future are discussed.