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What is WMobile R about?
Chapter 4 discusses the kinematics and dynamics of wheeled mobile robots, focusing on holonomic and nonholonomic constraints, kinematic and dynamic models, motion control, and localization. It details the mathematical formulations and constraints governing the movement of these robots, particularly emphasizing the nonholonomic nature of their motion. Additionally, it presents a robust tracking controller based on the backstepping method to ensure accurate motion despite uncertainties.
- Author
- hongdang2465
- Language
- EN