Control of a differentially driven nonholonomic robot subject to a restricted wheels rotation
Dariusz Pazderski,Krzysztof Kozłowski,Dariusz Pazderski,Krzysztof Kozłowski
The paper deals with non-standard motion tasks specified for a two-wheeled nonholonomic robot. It is assumed that wheels cannot fully rotate which reduces a set of feasible movements significantly. In spite of these constraints, it is expected that position of the robot can be changed without violating nonholonomic constraints. Such a possibility comes from the small time local controllability (ST...
