Authors : Kien Thi Ha My; Pham Quoc Phong; Le Quoc Chuan

Volume/Issue : Volume 11 - 2026, Issue 6 - June

Google Scholar : https://tinyurl.com/4pbhwdnj

Scribd : https://tinyurl.com/bdfu3ej8

DOI : https://doi.org/10.38124/ijisrt/26jun1365

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Abstract : Steering control methods for mobile robots are investigated in this study to optimize maneuverability and terrain adaptability within complex industrial and agricultural environments. Three independent steering configurations—twofront-wheel steering, four-wheel opposite-direction steering, and four-wheel same-direction steering—are mathematically modeled and simulated in the MATLAB/Simulink environment. To empirically validate the theoretical models, a physical four-wheel independent steering prototype was constructed and evaluated. Through a comparative analysis based on turning radius, maneuverability, and trajectory stability, it is demonstrated that the turning radius for confined spaces is significantly minimized by the opposite-direction steering configuration, whereas rapid diagonal transitions are facilitated by the same-direction configuration.

Keywords : Mobile Robot, Four-Wheel Independent Steering, Kinematic Modeling, Experimental Validation, MATLAB/Simulink.

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