Abstract
In all of the two-wheeled mobile robot system, we need the robot get the goal with measured position and orientation(x,y,θ). As we know, for giving the movements of left and right wheels to control the position and orientation, this system is a typical nonholonomic system. We can't use the general control theory about mobile robots to deal with it. In this paper, based on repeatedly direct kinematics, we describe the design and kinematics of the two-wheeled car mobile system using tiny movements to follow the track from initial configuration to the goal configuration. In this system, we can easily get the best path of two-wheeled mobile robot system even if the mobile robot can't make a center rotation.
