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.
Kinematic Model of Nonholonomic Mobile Robots
Applied Mechanics and Materials ; 611 ; 107-114
2014-08-11
8 pages
Article (Journal)
Electronic Resource
English
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