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.

Keywords: omni-wheel, roller-bearing wheel, nonholonomic constraint, dynamical system, invariant measure, integrability, controllability

Citation: Borisov A. V., Kilin A. A., Mamaev I. S., An omni-wheel vehicle on a plane and a sphere, Rus. J. Nonlin. Dyn., 2011, Vol. 7, No. 4, pp. 785-801

DOI:10.20537/nd1104004

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