The use of mobile robots in service applications is steadily increasing. Most of these systems 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. - ELETTRONICO. - (2014). [10.1007/978-1-4471-5102-9_178-1].
Wheeled robots
ORIOLO, Giuseppe
2014
Abstract
The use of mobile robots in service applications is steadily increasing. Most of these systems 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.File allegati a questo prodotto
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