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Dettaglio pubblicazione

2020, Encyclopedia of Systems and Control, 2nd Edition, Pages 1-8

Wheeled robots (02a Capitolo o Articolo)

ORIOLO Giuseppe

The use of mobile robots in applications is steadily increasing, both in the industrial and the service domains. Most mobile robots achieve locomotion using wheels. As a consequence, they are subject to differential constraints that are nonholonomic, i.e., non-integrable. This article reviews the kinematic models of wheeled robots arising from these constraints and discusses their fundamental properties and limitations from a control viewpoint. An overview of the main approaches for trajectory planning and feedback motion control is provided.
ISBN: 978-1-4471-5102-9
Gruppo di ricerca: Robotics
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