Kinematic Model of Nonholonomic Mobile Robots

Abstract:

Provided in this article is a general overview of modeling nonholonomic mobile robots. Emphasis is given to the structural characteristics of kinematic models, taking into account the mobility restrictions caused by various links. Based on the degree of mobility and the degree of controllability it is possible to divide wheeled mobile robots into multiple groups, regardless of the robot construction and the wheels arrangement.

• Periodical: Applied Mechanics and Materials (Volume 611)
• Pages: 107-114
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.611.107
• Online since: August 2014
• Authors: Jaromír Jezný*
• Keywords: Mathematical Models, Nonholonomic Robot, Wheels

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