Abstract
This chapter deals with motion modeling of wheeled mobile robots. It starts by introducing kinematic modeling of well-known mobile platforms such as differential drive, bicycle drive, Ackermann drive, and omnidirectional drives. Forward and inverse kinematics are presented, which can be applied in locomotion strategy design or in the localization process. It then describes kinematic motion constraints that originate from the robot structure and its kinematics. Holonomic and nonholonomic constraints are modeled and vector fields analysis using Lie brackets is performed to analyze the system’s constraints and its controllability. At the end, wheeled mobile robots are modeled as dynamic systems using Lagrange formulation where physical properties such as mass, inertia, and force are used. Clear examples of kinematic and dynamic models, constraints analysis, parallel parking maneuver, and the like are presented.
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