Kinematic analysis of wheeled moblie roobt

Abstract EN

This paper concerned with the kinematic analysis of a wheeled mobile robot (WMR).

A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels.

In this paper it is shown that, for a large class of possible configurations of wheels, five types of categories can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) castor wheels, iv) Swedish wheels, and v) spherical wheels.

These wheels are characterized by generic structures of the model equations.

Based on the geometrical constraints of these wheels a kinematical model has been proposed and the degree of mobility, steer ability and maneuverability are studied.

Finally this analysis is applied to various three wheeled mobile robots.

Examples are presented to illustrate the models.