References
- Kevin M. Lynch, F. (2017). Modern Robotics.
Kinematics & Dynamics
Wheeled Mobile Robots
Kinematic models of omnidirectional and nonholonomic wheeled robots and wheel odometry.
This section borrows heavily from chapter 13, Wheeled Mobile Robots, of Kevin Lynch and Frank Park, Modern Robotics: Mechanics, Planning, and Control (Cambridge University Press, 2017) (Kevin M. Lynch, 2017). You can download the chapter as a PDF.
A wheeled robot’s chassis is a planar rigid body, so this section builds on planar motion representations. It covers the kinematic models of omnidirectional robots, which use omniwheels or mecanum wheels, and of nonholonomic robots, such as differential-drive robots and cars, together with wheel odometry.