Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2011, Volume 7, Number 4, Pages 785–801 (Mi nd292)  
This article is cited in 20 scientific papers (total in 20 papers)

An omni-wheel vehicle on a plane and a sphere

A. V. Borisovab, A. A. Kilinba, I. S. Mamaevab

a Institute of Computer Science, Universitetskaya 1, Izhevsk, 426034 Russia
b Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
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Abstract: 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.
Received: 03.10.2011
Accepted: 05.12.2011
Document Type: Article
UDC: 531.01
MSC: 70F25, 70E18, 70E55, 70E60
Language: Russian
Citation: A. V. Borisov, A. A. Kilin, I. S. Mamaev, “An omni-wheel vehicle on a plane and a sphere”, Nelin. Dinam., 7:4 (2011), 785–801
Citation in format AMSBIB
\Bibitem{BorKilMam11}
\by A.~V.~Borisov, A.~A.~Kilin, I.~S.~Mamaev
\paper An omni-wheel vehicle on a plane and a sphere
\jour Nelin. Dinam.
\yr 2011
\vol 7
\issue 4
\pages 785--801
\mathnet{http://mi.mathnet.ru/nd292}
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  • https://www.mathnet.ru/eng/nd/v7/i4/p785
    • This publication is cited in the following 20 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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