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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 the planar cases of rotation representations and 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. Wheel odometry estimates the chassis configuration by accumulating small motions. For each step, it applies the discrete integration Xk=Xk−1⊕τk\mathcal{X}_k = \mathcal{X}_{k-1} \oplus \tau_k on SE(2), as described in calculus on Lie groups.

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References

  • Kevin M. Lynch, F. (2017). Modern Robotics.
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