2014 Dodge Avenger Rubbing sound

When driving, usually around 30 to 50 mph, I can hear a low rubbing noise. It sounds like rubber rubbing against a part of the vehicle. It makes a rythmic "voom voom voom" sound and im sure it's coming from my drivers side front tire. The car also feels as if it's going slower than it should and the wheels seem to skip or stall then jerk the car as it tries to keep going. Sometimes the steering wheel shakes a bit. The lug nuts also get pretty warm and there's a burning rubber smell