This paper presents kinematic and dynamic modeling of a wheeled mobile robotic platform for rough terrain operations. In the model, the body of the robot and each wheel set are considered as rigid bodies translating and rotating in space. For robots navigating on the ground, the external forces to the system are all coming from the road-tire interactions. In the kinematic model, it is assumed that the ground can provide whatever forces required to satisfy kinematic constraints at contact points, and in the dynamic model, the dynamic interactions between the tires and the terrain are considered.

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