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Introduction to Mobile Robot Control by Spyros G Tzafestas

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1

Mobile Robots

General Concepts

This chapter presents the fundamental general concepts of mobile robots that can move from one place to another autonomously within a predefined workspace to achieve their desired goals. Specifically, the chapter (i) provides a list of the main historical landmarks of general robotics and mobile robots, (ii) discusses the locomotion issues of ground (wheeled, legged) mobile robots, (iii) investigates the wheel and drive types of mobile robots (nonholonomic, omnidirectional) and, (iv) introduces the concepts of mobile robot degree of mobility, degree of steerability, and maneuverability.

Keywords

Wheeled mobile robot; maneuverability; fixed wheel; castor wheel; universal wheel; mecanum wheel; differential drive; ...

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