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Published in:
2017 | OriginalPaper | Chapter
Mobile Robot Vehicles
Author : Peter Corke
Published in: Robotics, Vision and Control
Publisher: Springer International Publishing
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This chapter discusses how a robot platform moves, that is, how its pose changes with time as a function of its control inputs. There are many different types of robot platform as shown on pages 95–97 but in this chapter we will consider only four important exemplars. Section 4.1 covers three different types of wheeled vehicle that operate in a 2-dimensional world. They can be propelled forwards or backwards and their heading direction controlled by some steering mechanism. Section 4.2 describes a quadrotor, a flying vehicle, which is an example of a robot that moves in 3-dimensional space. Quadrotors are becoming increasing popular as a robot platform since they are low cost and can be easily modeled and controlled.