Kinematic modelling of swerve-drive-based mobile robots

抄録

In the field of service robotics, wheeled mobile robots have a central role in precision agriculture, logistics, healthcare, inspection and maintenance and cleaning. This paper proposes a kinematic model for swerve-drive robots having two or more locomotion units. The kinematics of swerve-drive systems have already been addressed for specific robots, but a general approach is still missing.