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

arXiv: https://arxiv.org/abs/2110.00323 · HTML: https://mlsanity.com/paper/2110.00323/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Oct 2021.

## Built on by (most cited first, 1 of 1)

- [Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation](https://mlsanity.com/paper/2506.21732/) (2025)

## Abstract (arXiv)

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