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Wheeled Robots

Encyclopedia of Systems and Control

Abstract

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.

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Author information

Authors and Affiliations

  1. Sapienza Università di Roma, Roma, Italy

    Giuseppe Oriolo

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  1. Giuseppe Oriolo
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Correspondence to Giuseppe Oriolo .

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Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, Massachusetts, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, Minnesota, USA

    Tariq Samad

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© 2014 Springer-Verlag London

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Oriolo, G. (2014). Wheeled Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_178-1

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-1

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  • Online ISBN: 978-1-4471-5102-9

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Chapter history

  1. Latest

    Wheeled Robots
    Published:
    10 April 2020

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-2

  2. Original

    Wheeled Robots
    Published:
    17 February 2014

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_178-1

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