Kinematic Model of Nonholonomic Mobile Robots-Reference-Cited by-同舟云学术

Kinematic Model of Nonholonomic Mobile Robots

Published:2014-08 Issue: Volume:611 Page:107-114
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Jezný Jaromír¹

Affiliation:

1. ZŤS VVÚ

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.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.611.107.pdf

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