6. Vehicle MotionΒΆ

In this chapter, we model several motion systems and focus one of the most common robot drive systems known as the differential drive. We begin with ground contact components such as wheels and tracks. Move to steering and drive systems. The differential drive will work as the canonical example for which other drive systems will be discussed. Following the differential drive we derive a general approve to modeling drive systems. This is used to model steered vehicles and several types of Omniwheel systems.