Abstract
The use of mobile robots in applications is steadily increasing, both in the industrial and the service domains. Most mobile robots achieve locomotion using wheels. As a consequence, they are subject to differential constraints that are nonholonomic, i.e., non-integrable. This article reviews the kinematic models of wheeled robots arising from these constraints and discusses their fundamental properties and limitations from a control viewpoint. An overview of the main approaches for trajectory planning and feedback motion control is provided.
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Oriolo, G. (2020). Wheeled Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_178-2
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-2
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Latest
Wheeled Robots- Published:
- 10 April 2020
DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-2
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Original
Wheeled Robots- Published:
- 17 February 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-1