Geodesic
Control of a vehicle with omniwheels on a plane
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 473-481.

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The problem of motion of a vehicle in the form of a platform with an arbitrary number of Mecanum wheels fastened on it is considered. The controllability of this vehicle is discussed within the framework of the nonholonomic rolling model. An explicit algorithm is presented for calculating the control torques of the motors required to follow an arbitrary trajectory. Examples of controls for executing the simplest maneuvers are given.
Keywords: omniwheel, roller bearing wheel, nonholonomic constraint, dynamical system, integrability, controllability. 
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Alexander A. Kilin; Andrei D. Bobykin. Control of a vehicle with omniwheels on a plane. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 473-481. http://geodesic.mathdoc.fr/item/ND_2014_10_4_a6/

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