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.
Keywords:
wheeled mobile robots, kinematic and dynamic models, nonholonomity, control
Citation:
Campion G., Bastin G., D’Andréa-Novel B., Structural properties and classification on kinematic and dynamic models of wheeled mobile robots, Rus. J. Nonlin. Dyn.,
2011, Vol. 7, No. 4,
pp. 733-769
DOI:10.20537/nd1104002