Article details

Title: A Movement Geometry Study for Two-Wheeled Mobiles on a Specified Surface
Author(s): Vasile Nuţu               

Abstract: The scope of this work is to solve the problem of positioning on a certain area of a two-wheeled mobile, with two coaxial wheels. The author’s approach is limited to some aspects of cinematic, namely to obtain the links between the elements of the two-wheeled mobile movement and the proper movements of each wheel, considered independently. The solution implied the use of geometry and vector algebra. The results are useful in the design of autonomous mobiles, destined to operate discontinuously in hostile environments, in difficult field conditions.

Keywords: two-wheeled mobiles, two-wheeled differential drive mobile robots, the principle of inverse pendulum, cinematic of two-wheeled mobiles.


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