Application of Kinematic Modeling Methods to Wheeled Mobile Robots
نویسنده
چکیده
This paper presents, analyzes and compares two different kinematic modeling methods for obtaining the kinematic model of general wheeled mobile robots. The two kinematic modeling methods are based on absolutely different concepts: on the one hand the constraints of each wheel and on the other the well known homogeneous transformation matrix theory. These methods are applied to the most common wheeled mobile robots (car-like robot and mobile robot with differential wheels). Afterwards, two applications of path generation and calculation have been programmed and tested in simulation. Key-Words: Kinematic Modeling, Wheeled Mobile Robots, Modeling Methods
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