Dynamics and Control of a Wheeled Mobile Robot

A dynamic model for a wheeled mobile robot (WMR) is developed, in which kinematic constraints are derived from an analysis of the motion, and the dynamic equations are derived using the Lagrangian. The non-holonomic constraints on the system are presented. A control model of the motion of the system is given and feedback linearisation is applied to this control model. Examples are presented that demonstrate the effectiveness of the model and the control method.