Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot

Abstract

The main contribution of this paper is to present and discusses a new approach for development of a kinematics model and control strategy for a nonholonomic Wheeled Mobile Robot WMR. Dynamic model is involved, the linearization of the model is also presented, and stability analysis is discussed. Extensive simulation results for the proposed controller are presented.

Keywords

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