Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2011, Volume 7, Number 4, Pages 733–769 (Mi nd290)  

This article is cited in 12 scientific papers (total in 12 papers)

Structural properties and classification on kinematic and dynamic models of wheeled mobile robots

G. Campiona, G. Bastina, B. D'Andrea-Novelb

a Centre d'ingénierie des systèmes d'automatique et de mécanique appliquée (CESAME), B-1348 Louvain-la-Neuve, Belgium
b Centre automatique et systèmes, École des mines de Paris, F-77300 Fontainebleau, France
References:
Abstract: The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomity, mobility and controllability, configuration of the motorization, and feedback equivalence.
Keywords: wheeled mobile robots, kinematic and dynamic models, nonholonomity, control.
Document Type: Article
Language: Russian
Citation: G. Campion, G. Bastin, B. D'Andrea-Novel, “Structural properties and classification on kinematic and dynamic models of wheeled mobile robots”, Nelin. Dinam., 7:4 (2011), 733–769
Citation in format AMSBIB
\Bibitem{CamBasDan11}
\by G.~Campion, G.~Bastin, B.~D'Andrea-Novel
\paper Structural properties and classification on kinematic and dynamic models of wheeled mobile robots
\jour Nelin. Dinam.
\yr 2011
\vol 7
\issue 4
\pages 733--769
\mathnet{http://mi.mathnet.ru/nd290}
Linking options:
  • https://www.mathnet.ru/eng/nd290
  • https://www.mathnet.ru/eng/nd/v7/i4/p733
  • This publication is cited in the following 12 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Нелинейная динамика
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