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Study of a self-diagnosis system for an autonomous mobile robot

โœ Scribed by Okina, Shinnosuke; Kawabata, Kuniaki; Fujii, Teruo; Kunii, Yasuharu; Asama, Hajime; Endo, Isao

Book ID
126866678
Publisher
Taylor and Francis Group
Year
2000
Tongue
English
Weight
180 KB
Volume
14
Category
Article
ISSN
0169-1864

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The requirement of ideal rolling without sideways slipping for wheels imposes nonholonomic (non-integrable) constraints on the motion of the wheels and consequently on the motion of wheeled mobile robots. From the control point of view, the dynamics of nonholonomic systems can be divided in two part