Abstract
In this chapter, the foundation for path planning and navigation of a wheeldrive robot is given. First the basic formulas, which allow to describe the motion of the vehicle in a 3D environment, are introduced. Then the solution to the kinematics problem considering different types of wheels fixed at specific positions on the vehicle platform is described. At the end of the chapter, geometric kinematics solutions for typical wheel-driven robotic platforms are presented.
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© 2009 Vieweg+Teubner | GWV Fachverlage GmbH
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Berns, K., von Puttkamer, E. (2009). Kinematics. In: Autonomous Land Vehicles. Vieweg+Teubner. https://doi.org/10.1007/978-3-8348-9334-5_2
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DOI: https://doi.org/10.1007/978-3-8348-9334-5_2
Publisher Name: Vieweg+Teubner
Print ISBN: 978-3-8348-0421-1
Online ISBN: 978-3-8348-9334-5
eBook Packages: EngineeringEngineering (R0)