Experimental Investigations of the Controlled Motion of the Roller Racer Robot

In this paper we presents the results of experimental investigations and simulations of the motion of the Roller Racer. We assume that the angle \(\varphi (t)\) between the platforms is a prescribed function of time and that the no-slip condition (nonholonomic constraint) and viscous friction force act at the points of contact of the wheels. The results of theoretical and experimental investigations are compared for various values of the parameters of the control action and design parameters of mobile robot.