Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

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].