Robust Control of Differentially Driven Mobile Platforms
Wheeled mobile platforms constitute an important group of robotic objects. They can be treated as independent robots or as a transportation part of a composite robotic assembly, for instance mobile manipulators. Depending on the kind of the wheels and the way in which they are fixed to the cart, motion of wheeled mobile platforms can be realized with or without slippage phenomenon. If no slippage effect between the wheels and the surface occurs, then there exists some equation describing forbidden directions of realized velocities of the system. Such a relationship is called the nonholonomic constraint in the platform’s motion.
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