Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Wheeled Robots

  • Giuseppe Oriolo
Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-1


The use of mobile robots in service applications is steadily increasing. Most of these systems achieve locomotion using wheels. As a consequence, they are subject to differential constraints that are nonholonomic, i.e., non-integrable. This article reviews the kinematic models of wheeled robots arising from these constraints and discusses their fundamental properties and limitations from a control viewpoint. An overview of the main approaches for trajectory planning and feedback motion control is provided.


Wheeled robots Nonholonomic constraints Differential flatness Nonlinear controllability Smooth stabilizability 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  1. 1.Sapienza Università di RomaRomaItaly