Motion Planning for a Mobile Robot with Two Steerable Wheels |
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| Authors: | V. B. Larin |
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| Affiliation: | (1) S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev, Ukraine |
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| Abstract: | A nonholonomic model of a wheeled robot with two steerable wheels is considered. The model accounts for dynamic effects. The motion-planning problem for this model is solved by reducing it to a linear two-point boundary-value problem__________Translated from Prikladnaya Mekhanika, Vol. 41, No. 5, pp. 107–115, May 2005. |
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| Keywords: | nonholonomic constraints mobile robot motion planning |
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