Generalized Kinematic Modeling of Wheeled Mobile Robots: A Unified Framework for Heterogeneous Architectures

The increasing heterogeneity of wheeled mobile robot (WMR) architectures, including differential-drive, Ackermann, omnidirectional, and reconfigurable platforms, poses a major challenge for defining a unified, scalable kinematic representation. Most existing formulations are tailored to specific mec...

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Autors principals:	Jesús Said Pantoja-García, Alejandro Rodríguez-Molina, Miguel Gabriel Villarreal-Cervantes, Andrés Abraham Palma-Huerta, Mario Aldape-Pérez, Jacobo Sandoval-Gutiérrez
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2026-01-01
Col·lecció:	Mathematics
Matèries:	unified kinematic modeling wheeled mobile robots non-holonomic constraints omnidirectional and differential-drive robots reconfigurable robotic platforms
Accés en línia:	https://www.mdpi.com/2227-7390/14/3/415
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