High-Fidelity Yet Fast Dynamic Models of Wheeled Mobile Robots.

Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, we present a novel dynamic model formulation for use in WMR planning, control, and estimation systems. The formulation is high fidelity, general, modular, and fast. It builds on our prior work on recursive methods for 3-D kinematics derivation and constrained motion prediction u...