This chapter discusses the kinematic models of some wheeled mobile platforms and the aerial four motors helicopter-type vehicles. Such models show that commanding suitable velocities to the robots analyzed, the wheeled omnidirectional, unicycle and car-like robots and the aerial multirotor robot as well, causes velocities in the world frame, meaning that the commanded vehicles can move to any point in the navigation plane or in the navigation 3D space, in the cases of wheeled robots or aerial robots. Therefore, such models can be used to design automatic kinematic controllers, able to guide such robots in their navigation. As such controllers deal with the velocities of the robots ignoring the inertial effects, they are called kinematic controllers, and are responsible to move the vehicles in their working space. The design of such kinematic controllers, however, is not addressed here, but in Chap. 4.
Kinematic Models
Intelligent Systems, Cont. (formerly: Microprocessor)
2023-01-20
18 pages
Article/Chapter (Book)
Electronic Resource
English
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