> ## Documentation Index
> Fetch the complete documentation index at: https://aegean.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# 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](https://artifacts.aegeanai.com/pdf/lynch-mr/wheeled-robots.pdf).

A wheeled robot's chassis is a planar rigid body, so this section builds on [planar motion representations](/aiml-common/lectures/kinematics/planar-motion/index). 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.

## References

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

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