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.

Wheeled robots / Oriolo, Giuseppe. - (2020), pp. 1-8. [10.1007/978-1-4471-5102-9_178-2].

Wheeled robots

Giuseppe Oriolo
2020

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.
2020
Encyclopedia of Systems and Control, 2nd Edition
978-1-4471-5102-9
Wheeled robots; Nonholonomic constraints; Differential flatness; Nonlinear controllability; Smooth stabilizability
02 Pubblicazione su volume::02a Capitolo o Articolo
Wheeled robots / Oriolo, Giuseppe. - (2020), pp. 1-8. [10.1007/978-1-4471-5102-9_178-2].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1396035
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