On the Kinematics of Wheeled Mobile Robots

@article{Alexander1989OnTK,
  title={On the Kinematics of Wheeled Mobile Robots},
  author={James C. Alexander and John H. Maddocks},
  journal={I. J. Robotics Res.},
  year={1989},
  volume={8},
  pages={15-27}
}
A wheeled mobile robot is here modelled as a planar rigid body that rides on an arbitrary number of wheels. The relationship between the rigid body motion of the robot and the steering and drive rates of wheels is developed. In particular, conditions are obtained that guarantee that rolling without skidding or sliding can occur. Explicit differential equations are derived to describe the rigid body motions that arise in such ideal rolling trajectories. The simplest wheel configuration that… CONTINUE READING
Highly Cited
This paper has 150 citations. REVIEW CITATIONS

From This Paper

Topics from this paper.
92 Citations
37 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 92 extracted citations

150 Citations

051015'92'97'03'09'15
Citations per Year
Semantic Scholar estimates that this publication has 150 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 37 references

On the maneuvering of vehicles

  • J. C. Alexander, J. H. Maddocks
  • SIAM J. Appl. Math. 48:38–51.
  • 1988
Highly Influential
7 Excerpts

ed.1986. Autonomous mobile robots annual report

  • H. P. Moravec
  • Technical Report CMU-RI-MRL-86-1. Pittsburgh…
  • 1986
Highly Influential
8 Excerpts

Denning mobile robotics: Robots guard the pen

  • E. Wilson
  • High Technology 5(6):15–16.
  • 1985
Highly Influential
8 Excerpts

Photo essay: A first glimpse at Gemini

  • C. Helmers
  • Robotics Age 7(2):12–13.
  • 1985
Highly Influential
8 Excerpts

Rethinking robot mobility

  • J. M. Holland
  • Robotics Age 7(1):26–30.
  • 1985
Highly Influential
8 Excerpts

The Personal Robot Book

  • T. Marrs
  • Blue Ridge Summit, Pennsylvania: Tab Books, Inc..
  • 1985
Highly Influential
8 Excerpts

Birth of the killer robots

  • M. Rogers
  • Newsweek CIII(26):51.
  • 1984
Highly Influential
8 Excerpts

Part of the beginning

  • R. Johnson
  • Robotics Age 6(4):35–37.
  • 1984
Highly Influential
8 Excerpts

Similar Papers

Loading similar papers…