An omni-wheel vehicle on a plane and a sphere
2011, Vol. 7, No. 4, pp. 785-801
Author(s): Borisov A. V., Kilin A. A., Mamaev I. S.
We consider a nonholonomic model of the dynamics of an omni-wheel vehicle on a plane and a sphere. An elementary derivation of equations is presented, the dynamics of a free system is investigated, a relation to control problems is shown.
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