Kinematics
Karsten Berns, Ewald von Puttkamer · Vieweg+Teubner eBooks · 2009
In this chapter, the foundation for path planning and navigation of a wheeldrive robot is given. First the basic formulas, which allow to describe the motion of the vehicle in a 3D environment, are introduced. Then the solution to the kinematics problem considering different types of wheels fixed at specific positions on the vehicle platform is described. At the end of the chapter, geometric kinematics solutions for typical wheel-driven robotic platforms are presented.