Modern Robotics, Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces kinematic modeling of nonholonomic wheeled mobile robots and a single canonical model for car-like, diff-drive, and unicycle robots.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
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[@madebytony7804]

very nice, thank you.

[@miyoungpark9642]

thank you so much :)

[@samade2618]

I have a question. We know that the position of the mobile robot is in 3D space and have position in the x-y-z dimension, especially for uneven terrain. In the dynamic model, velocities in the x and y-direction were accounted for. However, that in the Z direction was not. Will this still give an optimal position solution for control of the robot in such cases where the terrain is uneven?

[@NorthwesternRobotics]

Hi Sam. The book chapter and the videos deal only with mobile robots moving on flat surfaces, not uneven terrain.

[@rudolf-blue]

So what about a holonomic drive, say with mecanum wheels?

[@angeloespinoza9850]

I guess it can be modelled just as a point in the C-space, considering the holonomic conditions.

[@digitaldata-surveying]

What do I do if I want to move the robot a horizontal distance with high accuracy from one point to another?

[@oaccacio]

Parallel parking

[@bradyschindler4199]

You need a holonomic drivetrain, this video shows a non-holonomic drivetrain