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Wheeled Robots

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Abstract

The use of mobile robots in applications is steadily increasing, both in the industrial and the service domains. Most mobile robots 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

Authors
  1. Giuseppe Oriolo
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Correspondence to Giuseppe Oriolo .

Editor information

Editors and Affiliations

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

    John Baillieul

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

    Tariq Samad

Section Editor information

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Oriolo, G. (2020). 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_178-2

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

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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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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