F-77300 Fontainebleau, France
Centre Automatique et Systemes—École des Mines de Paris
Campion G., Bastin G., D’Andréa-Novel B.
Structural properties and classification on kinematic and dynamic models of wheeled mobile robots
2011, Vol. 7, No. 4, pp. 733-769
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomity, mobility and controllability, configuration of the motorization, and feedback equivalence.