Kinematic model of three wheeled mobile robot

Abstract

In this paper, the behavior of wheeled mobile robots (WMR) has been analyzed. These robots ride on a system of wheels and axles, some of which may be steerable or driven. For WMRs, there are many wheels and axle configuration that have been used. The present work outlined for five categories of WMRs. The ultimate objective of this paper is to investigate the complete description of the control theory of such robots and its maneuverability. Equations are modeled to describe the rigid body motions that arise from rolling trajectories based on the geometrical constraints of these wheels. Finally this analysis is applied to various three wheeled mobile robots.   Key words: Wheeled mobile robot, kinematic analysis, degree of maneuverability.