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