This thesis focuses on the modification of the LibMoBot mobile robot model library in the MATLAB/Simulink environment using the Simscape and Simscape Multibody toolboxes. The modification of the mobile robot model library includes the generalization of the robot model with a three-wheeled chassis as well as the extension of the library to incorporate models of robots with articulated and omnidirectional chassis, and a simulation model of the MiroSot differential robot. The library contains algorithms for solving point-to-point control, pose control, and trajectory tracking tasks, which are validated using the models of the LibMoBot library. The results obtained in this thesis are demonstrated through a dedicated application. The thesis also includes a summary of the results achieved from solving subtasks of the ALICE CERN project at TUKE.