Abstract
Kinematic and dynamic models of a car-like mobile robot are presented. Put of the kinematic model is applicable to most wheeled robots, and part is specific for vehicles with coupled front wheel steering. The dynamic modelling process follows a structured method using bond graphs to develop the mathematical (state-space) model from the physical system description. The controller consists of two levels, the lower of which is specific to the MARIE robot and the higher of which is applicable to most mobile robots, wheeled or legged. The resulting control structure is placed in a theoretical framework.
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