Monitoring and surveillance by means of mobile robots are of great importance in a number of
various applications. The level of technology and science development is high enough to use
robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of
large industrial objects, in military purposes.
The main problems in this area are navigation and control of vehicle. The majority of articles are
dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2].
As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].
Motion Control of Wheeled Mobile Robots
